VCS/Quaternion - Sample is best!

開発環境	Microsoft Visual C# 2010 Express (SP1)
実行環境	Microsoft Windows XP Home Edition (SP3)
プロジェクトの種類	空のプロジェクト
プロジェクト名	Quaternion

Program.cs

using System;
using Microsoft.Xna.Framework; // .NET参照
 
class Program
{
    static void Main()
    {
        Quaternion q1, q2;
        float rad = MathHelper.ToRadians(45);
        float y = (float)Math.Sin(rad);
        float r = (float)Math.Cos(rad);
 
        Console.WriteLine("lat=0 +xから+zへ");
        q1 = new Quaternion(1, 0, 0, 0);
        q2 = new Quaternion(0, 0, 1, 0);
        Slerp(q1, q2);
 
        Console.WriteLine("lat=45 +xから+zへ");
        q1 = new Quaternion(r, y, 0, 0);
        q2 = new Quaternion(0, y, r, 0);
        Slerp(q1, q2);
 
        Console.WriteLine("lat=45 +xから-xへ");
        q1 = new Quaternion(r, y, 0, 0);
        q2 = new Quaternion(-r, y, 0, 0);
        Slerp(q1, q2);
 
        Console.ReadLine();
    }
 
    static void Slerp(Quaternion q1, Quaternion q2)
    {
        for (int n = 0; n <= 4; n++)
        {
            float t = n / 4.0f;
            Quaternion q = Quaternion.Slerp(q1, q2, t);
            float lat = MathHelper.ToDegrees((float)Math.Asin(q.Y));
            float xz = MathHelper.ToDegrees((float)Math.Atan2(q.Z, q.X));
            float xy = MathHelper.ToDegrees((float)Math.Atan2(q.Y, q.X));
            Console.WriteLine(String.Format(
                "t={0:f2} x={1:f2} y={2:f2} z={3:f2} w={4:f2} lat={5:f2} long={6:f2} xy={7:f2}",
                t, q.X, q.Y, q.Z, q.W, lat, xz, xy));
        }
    }
}
 

出力

lat=0 +xから+zへ
t=0.00 x=1.00 y=0.00 z=0.00 w=0.00 lat=0.00 long=0.00 xy=0.00
t=0.25 x=0.92 y=0.00 z=0.38 w=0.00 lat=0.00 long=22.50 xy=0.00
t=0.50 x=0.71 y=0.00 z=0.71 w=0.00 lat=0.00 long=45.00 xy=0.00
t=0.75 x=0.38 y=0.00 z=0.92 w=0.00 lat=0.00 long=67.50 xy=0.00
t=1.00 x=0.00 y=0.00 z=1.00 w=0.00 lat=0.00 long=90.00 xy=0.00
lat=45 +xから+zへ
t=0.00 x=0.71 y=0.71 z=0.00 w=0.00 lat=45.00 long=0.00 xy=45.00
t=0.25 x=0.58 y=0.79 z=0.21 w=0.00 lat=52.06 long=20.10 xy=53.79
t=0.50 x=0.41 y=0.82 z=0.41 w=0.00 lat=54.74 long=45.00 xy=63.43
t=0.75 x=0.21 y=0.79 z=0.58 w=0.00 lat=52.06 long=69.90 xy=75.00
t=1.00 x=0.00 y=0.71 z=0.71 w=0.00 lat=45.00 long=90.00 xy=90.00
lat=45 +xから-xへ
t=0.00 x=0.71 y=0.71 z=0.00 w=0.00 lat=45.00 long=0.00 xy=45.00
t=0.25 x=0.38 y=0.92 z=0.00 w=0.00 lat=67.50 long=0.00 xy=67.50
t=0.50 x=0.00 y=1.00 z=0.00 w=0.00 lat=89.98 long=0.00 xy=90.00
t=0.75 x=-0.38 y=0.92 z=0.00 w=0.00 lat=67.50 long=180.00 xy=112.50
t=1.00 x=-0.71 y=0.71 z=0.00 w=0.00 lat=45.00 long=180.00 xy=135.00