Class Slerp
- java.lang.Object
-
- org.apache.commons.numbers.quaternion.Slerp
-
- All Implemented Interfaces:
DoubleFunction<Quaternion>
public class Slerp extends Object implements DoubleFunction<Quaternion>
Perform spherical linear interpolation (Slerp). The Slerp algorithm is designed to interpolate smoothly between two rotations/orientations, producing a constant-speed motion along an arc. The original purpose of this algorithm was to animate 3D rotations. All output quaternions are in positive polar form, meaning a unit quaternion with a positive scalar component.
-
-
Constructor Summary
Constructors Constructor Description Slerp(Quaternion start, Quaternion end)Create an instance.
-
-
-
Constructor Detail
-
Slerp
public Slerp(Quaternion start, Quaternion end)
Create an instance.- Parameters:
start- Start of the interpolation.end- End of the interpolation.
-
-
Method Detail
-
apply
public Quaternion apply(double t)
Performs the interpolation. The rotation returned by this method is controlled by the interpolation parameter,t. All other values are interpolated (or extrapolated iftis outside of the[0, 1]range). The returned quaternion is in positive polar form, meaning that it is a unit quaternion with a positive scalar component.- Specified by:
applyin interfaceDoubleFunction<Quaternion>- Parameters:
t- Interpolation control parameter. Whent = 0, a rotation equal to the start instance is returned. Whent = 1, a rotation equal to the end instance is returned.- Returns:
- an interpolated quaternion in positive polar form.
-
-