Unity坐标系输入两个方向向量求四元数

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于 2024-08-28 09:53:34 发布

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Unity坐标系输入两个方向向量求四元数

inline glm::quat FromToRotation(glm::vec3 fromDirection, glm::vec3 toDirection)
{
    if (fromDirection == glm::vec3(0.0) || toDirection == glm::vec3(0.0))
        return glm::quat(1.0, 0.0, 0.0, 0.0);

    fromDirection = glm::normalize(fromDirection);
    toDirection = glm::normalize(toDirection);

    if (fromDirection == toDirection)
        return glm::quat(1.0, 0.0, 0.0, 0.0);

    glm::vec3 aixs = glm::cross(fromDirection, toDirection);//叉乘的aixs的模长即为正弦值
    float sinThelta = glm::length(aixs);
    float cosThelta = glm::dot(fromDirection, toDirection);
    float sinHalfThelta = glm::sqrt((1 - cosThelta) / 2);//计算sin半角 可以避免cos半角的取正负号问题
    float cosHalfThelta = sinThelta / (2 * sinHalfThelta);
    aixs = glm::normalize(aixs);//规范化一下
    return glm::quat(cosHalfThelta, sinHalfThelta*aixs);
}//输入2个方向 转四元数