quantum-space-buddies/QSB/Utility/QuaternionHelper.cs

using UnityEngine;

namespace QSB.Utility;

public static class QuaternionHelper
{
	// Stolen from here: https://gist.github.com/maxattack/4c7b4de00f5c1b95a33b
	public static Quaternion SmoothDamp(Quaternion rot, Quaternion target, ref Quaternion deriv, float time)
	{
		if (Time.deltaTime < Mathf.Epsilon)
		{
			return rot;
		}

		// account for double-cover
		var dot = Quaternion.Dot(rot, target);
		var multi = dot > 0f ? 1f : -1f;
		target.x *= multi;
		target.y *= multi;
		target.z *= multi;
		target.w *= multi;
		// smooth damp (nlerp approx)
		var result = new Vector4(
			Mathf.SmoothDamp(rot.x, target.x, ref deriv.x, time),
			Mathf.SmoothDamp(rot.y, target.y, ref deriv.y, time),
			Mathf.SmoothDamp(rot.z, target.z, ref deriv.z, time),
			Mathf.SmoothDamp(rot.w, target.w, ref deriv.w, time)
		).normalized;

		// ensure deriv is tangent
		var derivError = Vector4.Project(new Vector4(deriv.x, deriv.y, deriv.z, deriv.w), result);
		deriv.x -= derivError.x;
		deriv.y -= derivError.y;
		deriv.z -= derivError.z;
		deriv.w -= derivError.w;

		return new Quaternion(result.x, result.y, result.z, result.w);
	}
}