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);
		}
	}
}