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Implement Quaternion to Euler conversion as a member method to Vector3 type.

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This commit is contained in:
Sandu Liviu Catalin 2016-08-04 03:30:19 +03:00
parent 624606e482
commit 6e7c14eafb
1 changed files with 25 additions and 7 deletions
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32
source/Base/Vector3.cpp
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@ -387,17 +387,35 @@ void Vector3::SetVector4Ex(Value nx, Value ny, Value nz, Value /*nw*/)
// ------------------------------------------------------------------------------------------------ // ------------------------------------------------------------------------------------------------
void Vector3::SetQuaternion(const Quaternion & q) void Vector3::SetQuaternion(const Quaternion & q)
{ {
x = q.x; SetQuaternionEx(q.x, q.y, q.z, q.w);
y = q.y;
z = q.z;
} }
// ------------------------------------------------------------------------------------------------ // ------------------------------------------------------------------------------------------------
void Vector3::SetQuaternionEx(Value nx, Value ny, Value nz, Value /*nw*/) void Vector3::SetQuaternionEx(Value qx, Value qy, Value qz, Value qw)
{ {
x = nx; // Quick conversion to Euler angles to give tilt to user
y = ny; const Value sqx = (qx * qx), sqy = (qy * qy), sqz = (qz * qz), sqw = (qw * qw);
z = nz;
y = std::asin(STOVAL(2.0) * ((qw * qy) - (qx * qz)));
if (EpsGt((SQMOD_PI * STOVAL(0.5)) - std::abs(y), STOVAL(1e-10)))
{
z = std::atan2(STOVAL(2.0) * ((qx * qy) + (qw * qz)), sqx - sqy - sqz + sqw);
x = std::atan2(STOVAL(2.0) * ((qw * qx) + (qy * qz)), sqw - sqx - sqy + sqz);
}
else
{
// Compute heading from local 'down' vector
z = std::atan2((STOVAL(2.0) * qy * qz) - (STOVAL(2.0) * qx * qw),
(STOVAL(2.0) * qx * qz) + (STOVAL(2.0) * qy * qw));
x = STOVAL(0.0);
// If facing down, reverse yaw
if (EpsLt(y, STOVAL(0.0)))
{
z -= SQMOD_PI;
}
}
} }
// ------------------------------------------------------------------------------------------------ // ------------------------------------------------------------------------------------------------