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#ifndef _gp_QuaternionNLerp_HeaderFile
#define _gp_QuaternionNLerp_HeaderFile
#include <gp_Quaternion.hxx>
/**
* Class perform linear interpolation (approximate rotation interpolation),
* result quaternion nonunit, its length lay between. sqrt(2)/2 and 1.0
*/
class gp_QuaternionNLerp
{
public:
gp_QuaternionNLerp() {}
gp_QuaternionNLerp (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd)
{
Init (theQStart, theQEnd);
}
void Init (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd)
{
InitFromUnit (theQStart.Normalized(), theQEnd.Normalized());
}
void InitFromUnit (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd)
{
myQStart = theQStart;
myQEnd = theQEnd;
Standard_Real anInner = myQStart.Dot (myQEnd);
if (anInner < 0.0)
{
myQEnd = -myQEnd;
}
myQEnd -= myQStart;
}
//! Set interpolated quaternion for theT position (from 0.0 to 1.0)
void Interpolate (Standard_Real theT, gp_Quaternion& theResultQ) const
{
theResultQ = myQStart + myQEnd * theT;
}
static gp_Quaternion Interpolate (const gp_Quaternion& theQStart,
const gp_Quaternion& theQEnd,
Standard_Real theT)
{
gp_Quaternion aResultQ;
gp_QuaternionNLerp aNLerp (theQStart, theQEnd);
aNLerp.Interpolate (theT, aResultQ);
return aResultQ;
}
private:
gp_Quaternion myQStart;
gp_Quaternion myQEnd;
};
#endif //_gp_QuaternionNLerp_HeaderFile
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