slerpFlat static method

void slerpFlat(dynamic dst, num dstOffset, dynamic src0, num srcOffset0, dynamic src1, num srcOffset1, num t,)

Implementation

static void slerpFlat(dst, num dstOffset, src0, num srcOffset0, src1, num srcOffset1, num t) {
  // fuzz-free, array-based Quaternion SLERP operation

  double x0 = src0[srcOffset0 + 0].toDouble(),
      y0 = src0[srcOffset0 + 1].toDouble(),
      z0 = src0[srcOffset0 + 2].toDouble(),
      w0 = src0[srcOffset0 + 3].toDouble();

  double x1 = src1[srcOffset1 + 0].toDouble(),
      y1 = src1[srcOffset1 + 1].toDouble(),
      z1 = src1[srcOffset1 + 2].toDouble(),
      w1 = src1[srcOffset1 + 3].toDouble();

  if (t == 0) {
    dst[dstOffset] = x0;
    dst[dstOffset + 1] = y0;
    dst[dstOffset + 2] = z0;
    dst[dstOffset + 3] = w0;
    return;
  }

  if (t == 1) {
    dst[dstOffset] = x1;
    dst[dstOffset + 1] = y1;
    dst[dstOffset + 2] = z1;
    dst[dstOffset + 3] = w1;
    return;
  }

  if (w0 != w1 || x0 != x1 || y0 != y1 || z0 != z1) {
    var s = 1 - t;
    double cos = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1;
    var dir = (cos >= 0 ? 1 : -1), sqrSin = 1 - cos * cos;

    // Skip the Slerp for tiny steps to avoid numeric problems:
    if (sqrSin > Math.epsilon) {
      var sin = Math.sqrt(sqrSin), len = Math.atan2(sin, cos * dir);

      s = Math.sin(s * len) / sin;
      t = Math.sin(t * len) / sin;
    }

    var tDir = t * dir;

    x0 = x0 * s + x1 * tDir;
    y0 = y0 * s + y1 * tDir;
    z0 = z0 * s + z1 * tDir;
    w0 = w0 * s + w1 * tDir;

    // Normalize in case we just did a lerp:
    if (s == 1 - t) {
      var f = 1 / Math.sqrt(x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0);

      x0 *= f;
      y0 *= f;
      z0 *= f;
      w0 *= f;
    }
  }

  dst[dstOffset] = x0;
  dst[dstOffset + 1] = y0;
  dst[dstOffset + 2] = z0;
  dst[dstOffset + 3] = w0;
}