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Check if the axis is zero / vectors are colinear in Vector3 slerp
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@ -217,16 +217,25 @@ Vector3 Vector3::lerp(const Vector3 &p_to, const real_t p_weight) const {
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}
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Vector3 Vector3::slerp(const Vector3 &p_to, const real_t p_weight) const {
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// This method seems more complicated than it really is, since we write out
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// the internals of some methods for efficiency (mainly, checking length).
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real_t start_length_sq = length_squared();
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real_t end_length_sq = p_to.length_squared();
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if (unlikely(start_length_sq == 0.0f || end_length_sq == 0.0f)) {
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// Zero length vectors have no angle, so the best we can do is either lerp or throw an error.
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return lerp(p_to, p_weight);
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}
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Vector3 axis = cross(p_to);
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real_t axis_length_sq = axis.length_squared();
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if (unlikely(axis_length_sq == 0.0f)) {
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// Colinear vectors have no rotation axis or angle between them, so the best we can do is lerp.
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return lerp(p_to, p_weight);
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}
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axis /= Math::sqrt(axis_length_sq);
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real_t start_length = Math::sqrt(start_length_sq);
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real_t result_length = Math::lerp(start_length, Math::sqrt(end_length_sq), p_weight);
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real_t angle = angle_to(p_to);
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return rotated(cross(p_to).normalized(), angle * p_weight) * (result_length / start_length);
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return rotated(axis, angle * p_weight) * (result_length / start_length);
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}
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Vector3 Vector3::cubic_interpolate(const Vector3 &p_b, const Vector3 &p_pre_a, const Vector3 &p_post_b, const real_t p_weight) const {
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