Sara/behaviour-tree-test
1
0
Fork 0
Code Issues Pull requests Projects Releases 2 Packages Wiki Activity Actions

Allow getting Quaternion rotation in different Euler orders

Browse source
This commit is contained in:
Aaron Franke 2022-10-01 21:54:19 -05:00
parent 889868cbbc
commit 9e952c8386
No known key found for this signature in database
GPG key ID: 40A1750B977E56BF
7 changed files with 31 additions and 29 deletions
Download patch file Download diff file Expand all files Collapse all files

18
core/math/quaternion.cpp
View file

@ -38,25 +38,11 @@ real_t Quaternion::angle_to(const Quaternion &p_to) const {
return Math::acos(CLAMP(d * d * 2 - 1, -1, 1));
}
// get_euler_xyz returns a vector containing the Euler angles in the format
// (ax,ay,az), where ax is the angle of rotation around x axis,
// and similar for other axes.
// This implementation uses XYZ convention (Z is the first rotation).
Vector3 Quaternion::get_euler_xyz() const {
Basis m(*this);
return m.get_euler(EulerOrder::XYZ);
}
// get_euler_yxz returns a vector containing the Euler angles in the format
// (ax,ay,az), where ax is the angle of rotation around x axis,
// and similar for other axes.
// This implementation uses YXZ convention (Z is the first rotation).
Vector3 Quaternion::get_euler_yxz() const {
Vector3 Quaternion::get_euler(EulerOrder p_order) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Vector3(0, 0, 0), "The quaternion must be normalized.");
#endif
Basis m(*this);
return m.get_euler(EulerOrder::YXZ);
return Basis(*this).get_euler(p_order);
}
void Quaternion::operator*=(const Quaternion &p_q) {

4
core/math/quaternion.h
View file

@ -66,9 +66,7 @@ struct _NO_DISCARD_ Quaternion {
_FORCE_INLINE_ real_t dot(const Quaternion &p_q) const;
real_t angle_to(const Quaternion &p_to) const;
Vector3 get_euler_xyz() const;
Vector3 get_euler_yxz() const;
Vector3 get_euler() const { return get_euler_yxz(); };
Vector3 get_euler(EulerOrder p_order = EulerOrder::YXZ) const;
static Quaternion from_euler(const Vector3 &p_euler);
Quaternion slerp(const Quaternion &p_to, const real_t &p_weight) const;