最近要对前几帧数据进行平均数采样。所以又造了一个轮子
此方法经过一些单数和双数的基本测试,并且解决了无效四元数的问题,基本可用:
public static Quaternion Average(Quaternion[] quatArray) { var result = new Quaternion(); var count = quatArray.Length; var error = 0; while (count > 1) { if (error >= 10000) break; error++; var k = 0; for (int i = 0; i + 1 < count; i += 2) { var a = quatArray[i]; var b = quatArray[i + 1]; if (Quaternion.Dot(a, a) < Quaternion.kEpsilon) a = Quaternion.identity; if (Quaternion.Dot(b, b) < Quaternion.kEpsilon) b = Quaternion.identity; var avgQuat = Quaternion.LerpUnclamped(a, b, 0.5f); quatArray[k] = avgQuat; k++; } var lastCount = count; count = k; if ((lastCount & 1) == 1) { k++; count++; quatArray[k] = quatArray[lastCount - 1]; } } result = quatArray[0]; return result; }