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#ifndef _gp_QuaternionSLerp_HeaderFile
#define _gp_QuaternionSLerp_HeaderFile
#include <gp_Quaternion.hxx>
/**
* Perform Spherical Linear Interpolation of the quaternions,
* return unit length quaternion.
*/
class gp_QuaternionSLerp
{
public:
gp_QuaternionSLerp() {}
gp_QuaternionSLerp (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 cosOmega = myQStart.Dot (myQEnd);
if (cosOmega < 0.0)
{
cosOmega = -cosOmega;
myQEnd = -myQEnd;
}
if (cosOmega > 0.9999)
{
cosOmega = 0.9999;
}
myOmega = ACos (cosOmega);
Standard_Real invSinOmega = (1.0 / Sin (myOmega));
myQStart.Scale (invSinOmega);
myQEnd.Scale (invSinOmega);
}
//! Set interpolated quaternion for theT position (from 0.0 to 1.0)
void Interpolate (Standard_Real theT, gp_Quaternion& theResultQ) const
{
theResultQ = myQStart * Sin((1.0 - theT) * myOmega) + myQEnd * Sin (theT * myOmega);
}
private:
gp_Quaternion myQStart;
gp_Quaternion myQEnd;
Standard_Real myOmega;
};
#endif //_gp_QuaternionSLerp_HeaderFile
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