BEPUutilities.Toolbox.GetQuaternionBetweenNormalizedVectors C# (CSharp) Метод

        public static void GetQuaternionBetweenNormalizedVectors(ref Vector3 v1, ref Vector3 v2, out Quaternion q)
        {
            float dot;
            Vector3.Dot(ref v1, ref v2, out dot);
            //For non-normal vectors, the multiplying the axes length squared would be necessary:
            //float w = dot + (float)Math.Sqrt(v1.LengthSquared() * v2.LengthSquared());
            if (dot < -0.9999f) //parallel, opposing direction
            {
                //Project onto the plane which has the lowest component magnitude.
                if (v1.X < v1.Y && v1.X < v1.Z)
                    q = new Quaternion(0, -v1.Z, v1.Y, 0);
                else if (v1.Y < v1.Z)
                    q = new Quaternion(-v1.Z, 0, v1.X, 0);
                else
                    q = new Quaternion(-v1.Y, -v1.X, 0, 0);
            }
            else
            {
                Vector3 axis;
                Vector3.Cross(ref v1, ref v2, out axis);
                q = new Quaternion(axis.X, axis.Y, axis.Z, dot + 1);
            }
            q.Normalize();
        }