Function xQuatSlerp

src/SB/Core/x/xMath3.cpp:682–721

}

void xQuatSlerp(xQuat* q, const xQuat* a, const xQuat* b, F32 t)
{
    F32 one_sintheta;
    F32 temp_t;
    F32 abdot;
    xQuat b2;

    xQuat* qp1 = 0;
    xQuat* qp2 = 0;

    abdot = xQuatDot(a, b);
    if (abdot < 0.0)
    {
        abdot = -abdot;
        b2.v.x = -b->v.x;
        b2.v.y = -b->v.y;
        b2.v.z = -b->v.z;
        b2.s = -b->s;
        b = &b2;
    }
    if (0.999 <= abdot)
    {
        temp_t = 1.0 - t;
    }
    else
    {
        abdot = xacos(abdot);
        one_sintheta = 1.0 / isin(abdot);
        temp_t = isin(t);
        temp_t = one_sintheta * temp_t;
        abdot = isin(t * abdot);
        t = one_sintheta * abdot;
    }

    xQuatSMul(qp1, a, temp_t);
    xQuatSMul(qp2, b, t);
    xQuatAdd(q, qp1, qp2);
    xQuatNormalize(q, q);
    return;
}

void xQuatMul(xQuat* o, const xQuat* a, const xQuat* b)