/usr/include/opencascade/gp_QuaternionSLerp.hxx is in libopencascade-foundation-dev 6.5.0.dfsg-2build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 | #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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