Allow getting Quaternion rotation in different Euler orders

7 files changed, 31 insertions, 29 deletions

diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp
index 42b61f6dfe..942a0b766e 100644
--- a/core/math/quaternion.cpp
+++ b/core/math/quaternion.cpp
@@ -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) {
diff --git a/core/math/quaternion.h b/core/math/quaternion.h
index 7497f1643e..c5af2121d9 100644
--- a/core/math/quaternion.h
+++ b/core/math/quaternion.h
@@ -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;
diff --git a/core/variant/variant_call.cpp b/core/variant/variant_call.cpp
index f32233d808..7da46a2d05 100644
--- a/core/variant/variant_call.cpp
+++ b/core/variant/variant_call.cpp
@@ -1805,7 +1805,7 @@ static void _register_variant_builtin_methods() {
 	bind_method(Quaternion, slerpni, sarray("to", "weight"), varray());
 	bind_method(Quaternion, spherical_cubic_interpolate, sarray("b", "pre_a", "post_b", "weight"), varray());
 	bind_method(Quaternion, spherical_cubic_interpolate_in_time, sarray("b", "pre_a", "post_b", "weight", "b_t", "pre_a_t", "post_b_t"), varray());
-	bind_method(Quaternion, get_euler, sarray(), varray());
+	bind_method(Quaternion, get_euler, sarray("order"), varray((int64_t)EulerOrder::YXZ));
 	bind_static_method(Quaternion, from_euler, sarray("euler"), varray());
 	bind_method(Quaternion, get_axis, sarray(), varray());
 	bind_method(Quaternion, get_angle, sarray(), varray());
diff --git a/doc/classes/Quaternion.xml b/doc/classes/Quaternion.xml
index 08a9231751..ac2eda9f28 100644
--- a/doc/classes/Quaternion.xml
+++ b/doc/classes/Quaternion.xml
@@ -99,8 +99,9 @@
 		</method>
 		<method name="get_euler" qualifiers="const">
 			<return type="Vector3" />
+			<param index="0" name="order" type="int" default="2" />
 			<description>
-				Returns Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last) corresponding to the rotation represented by the unit quaternion. Returned vector contains the rotation angles in the format (X angle, Y angle, Z angle).
+				Returns the quaternion's rotation in the form of Euler angles. The Euler order depends on the [param order] parameter, for example using the YXZ convention: since this method decomposes, first Z, then X, and Y last. See the [enum EulerOrder] enum for possible values. The returned vector contains the rotation angles in the format (X angle, Y angle, Z angle).
 			</description>
 		</method>
 		<method name="inverse" qualifiers="const">
diff --git a/editor/editor_properties.cpp b/editor/editor_properties.cpp
index 115fda6ca0..d76dce0c1d 100644
--- a/editor/editor_properties.cpp
+++ b/editor/editor_properties.cpp
@@ -2725,7 +2725,7 @@ void EditorPropertyQuaternion::update_property() {
 	spin[2]->set_value(val.z);
 	spin[3]->set_value(val.w);
 	if (!is_grabbing_euler()) {
-		Vector3 v = val.normalized().get_euler_yxz();
+		Vector3 v = val.normalized().get_euler();
 		edit_euler.x = Math::rad_to_deg(v.x);
 		edit_euler.y = Math::rad_to_deg(v.y);
 		edit_euler.z = Math::rad_to_deg(v.z);
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
index 5dd629aeb0..f01f0be985 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
@@ -312,7 +312,7 @@ namespace Godot
         /// the rotation angles in the format (X angle, Y angle, Z angle).
         /// </summary>
         /// <returns>The Euler angle representation of this quaternion.</returns>
-        public Vector3 GetEuler()
+        public Vector3 GetEuler(EulerOrder order = EulerOrder.Yxz)
         {
 #if DEBUG
             if (!IsNormalized())
@@ -321,7 +321,7 @@ namespace Godot
             }
 #endif
             var basis = new Basis(this);
-            return basis.GetEuler();
+            return basis.GetEuler(order);
         }
 
         /// <summary>
diff --git a/tests/core/math/test_quaternion.h b/tests/core/math/test_quaternion.h
index 909fc2499f..c3ae322991 100644
--- a/tests/core/math/test_quaternion.h
+++ b/tests/core/math/test_quaternion.h
@@ -169,10 +169,9 @@ TEST_CASE("[Quaternion] Construct Euler YXZ dynamic axes") {
 	Vector3 euler_r(0.0, 0.0, roll);
 	Quaternion q_r = Quaternion::from_euler(euler_r);
 
-	// Roll-Z is followed by Pitch-X.
-	Quaternion check_xz = q_p * q_r;
-	// Then Yaw-Y follows both.
-	Quaternion check_yxz = q_y * check_xz;
+	// Instrinsically, Yaw-Y then Pitch-X then Roll-Z.
+	// Extrinsically, Roll-Z is followed by Pitch-X, then Yaw-Y.
+	Quaternion check_yxz = q_y * q_p * q_r;
 
 	// Test construction from YXZ Euler angles.
 	Vector3 euler_yxz(pitch, yaw, roll);
@@ -182,8 +181,9 @@ TEST_CASE("[Quaternion] Construct Euler YXZ dynamic axes") {
 	CHECK(q[2] == doctest::Approx(check_yxz[2]));
 	CHECK(q[3] == doctest::Approx(check_yxz[3]));
 
-	// Sneak in a test of is_equal_approx.
 	CHECK(q.is_equal_approx(check_yxz));
+	CHECK(q.get_euler().is_equal_approx(euler_yxz));
+	CHECK(check_yxz.get_euler().is_equal_approx(euler_yxz));
 }
 
 TEST_CASE("[Quaternion] Construct Basis Euler") {
@@ -235,6 +235,23 @@ TEST_CASE("[Quaternion] Construct Basis Axes") {
 	CHECK(q[3] == doctest::Approx(0.8582598));
 }
 
+TEST_CASE("[Quaternion] Get Euler Orders") {
+	double x = Math::deg_to_rad(30.0);
+	double y = Math::deg_to_rad(45.0);
+	double z = Math::deg_to_rad(10.0);
+	Vector3 euler(x, y, z);
+	for (int i = 0; i < 6; i++) {
+		EulerOrder order = (EulerOrder)i;
+		Basis basis = Basis::from_euler(euler, order);
+		Quaternion q = Quaternion(basis);
+		Vector3 check = q.get_euler(order);
+		CHECK_MESSAGE(check.is_equal_approx(euler),
+				"Quaternion get_euler method should return the original angles.");
+		CHECK_MESSAGE(check.is_equal_approx(basis.get_euler(order)),
+				"Quaternion get_euler method should behave the same as Basis get_euler.");
+	}
+}
+
 TEST_CASE("[Quaternion] Product (book)") {
 	// Example from "Quaternions and Rotation Sequences" by Jack Kuipers, p. 108.
 	Quaternion p(1.0, -2.0, 1.0, 3.0);