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MATH: Replace Quaternion XYZ with Euler.

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Joseph Jezak 2014-08-18 11:44:48 -04:00
parent 99fa91053c
commit e34d0ddba3
6 changed files with 25 additions and 25 deletions
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22
math/quat.cpp
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@ -184,29 +184,29 @@ Angle Quaternion::getAngleBetween(const Quaternion &to) {
return diff;
}
Quaternion Quaternion::fromXYZ(const Angle &rotX, const Angle &rotY, const Angle &rotZ, EulerOrder order) {
Quaternion Quaternion::fromEuler(const Angle &first, const Angle &second, const Angle &third, EulerOrder order) {
// First create a matrix with the rotation
Matrix4 rot(rotX, rotY, rotZ, order);
Matrix4 rot(first, second, third, order);
// Convert this rotation matrix to a Quaternion
return Quaternion(rot);
}
void Quaternion::getXYZ(Angle *rotX, Angle *rotY, Angle *rotZ, EulerOrder order) {
void Quaternion::getEuler(Angle *first, Angle *second, Angle *third, EulerOrder order) {
// Create a matrix from the Quaternion
Matrix4 rot = toMatrix();
// Convert the matrix to Euler Angles
Angle ex, ey, ez;
rot.getEuler(&ex, &ey, &ez, order);
Angle f, s, t;
rot.getEuler(&f, &s, &t, order);
// Assign the Angles if we have a reference
if (rotX != nullptr)
*rotX = ex;
if (rotY != nullptr)
*rotY = ey;
if (rotZ != nullptr)
*rotZ = ez;
if (first != nullptr)
*first = f;
if (second != nullptr)
*second = s;
if (third != nullptr)
*third = t;
}
Quaternion Quaternion::operator*(const Quaternion &o) const {