diff options
| author | Rémi Verschelde <rverschelde@gmail.com> | 2022-11-02 18:51:59 +0100 |
|---|---|---|
| committer | Rémi Verschelde <rverschelde@gmail.com> | 2022-11-02 18:51:59 +0100 |
| commit | d2e1b4b9f0cbd67e38773ad610912ff382cf4d4f (patch) | |
| tree | 5e399c44229a972d289048b19627662a28c40095 /core/math/quaternion.cpp | |
| parent | 62ed75df9cbac7dd1d73631b5d542000a26325b5 (diff) | |
| parent | 83634119d42595498e42685556a577c12145e20b (diff) | |
Merge pull request #68118 from aaronfranke/quat-from-euler
Replace Quaternion Euler constructor with `from_euler` method
Diffstat (limited to 'core/math/quaternion.cpp')
| -rw-r--r-- | core/math/quaternion.cpp | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp index 6a5f29f3d8..79a4e62b56 100644 --- a/core/math/quaternion.cpp +++ b/core/math/quaternion.cpp @@ -330,7 +330,7 @@ Quaternion::Quaternion(const Vector3 &p_axis, real_t p_angle) { // (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). -Quaternion::Quaternion(const Vector3 &p_euler) { +Quaternion Quaternion::from_euler(const Vector3 &p_euler) { real_t half_a1 = p_euler.y * 0.5f; real_t half_a2 = p_euler.x * 0.5f; real_t half_a3 = p_euler.z * 0.5f; @@ -346,8 +346,9 @@ Quaternion::Quaternion(const Vector3 &p_euler) { real_t cos_a3 = Math::cos(half_a3); real_t sin_a3 = Math::sin(half_a3); - x = sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3; - y = sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3; - z = -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3; - w = sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3; + return Quaternion( + sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3, + sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3, + -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3, + sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3); } |