+ }
+
+ public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
+
+ if (turnAxis == null) {
+ Vector3d dir = getPathLegDirection(Direction.NEXT);
+ if (dir.lengthSquared() > MathTools.NEAR_ZERO)
+ dir.normalize();
+ Quat4d q = getControlPointOrientationQuat(dir, angle);
+ if (reversed) {
+ Quat4d q2 = new Quat4d();
+ q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
+ q.mulInverse(q2);
+ }
+ return q;
+ } else {
+ Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
+ dir.negate();
+ if (dir.lengthSquared() > MathTools.NEAR_ZERO)
+ dir.normalize();
+ return getControlPointOrientationQuat(dir, turnAxis, angle);
+ }
+ }