diff options
author | Aaron Franke <arnfranke@yahoo.com> | 2022-11-01 08:11:09 -0500 |
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committer | Aaron Franke <arnfranke@yahoo.com> | 2022-11-01 09:28:12 -0500 |
commit | 83634119d42595498e42685556a577c12145e20b (patch) | |
tree | bdd670ec6732d4cf479f3185806331b16f3f6fc8 /modules/mono | |
parent | e6751549cf7247965d1744b8c464f5e901006f21 (diff) |
Replace Quaternion Euler constructor with `from_euler` method
Diffstat (limited to 'modules/mono')
-rw-r--r-- | modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs | 60 |
1 files changed, 31 insertions, 29 deletions
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs index d459fe8c96..c4eb3b6ad0 100644 --- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs +++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs @@ -507,35 +507,6 @@ namespace Godot } /// <summary> - /// Constructs a <see cref="Quaternion"/> that will perform a rotation specified by - /// Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last), - /// given in the vector format as (X angle, Y angle, Z angle). - /// </summary> - /// <param name="eulerYXZ">Euler angles that the quaternion will be rotated by.</param> - public Quaternion(Vector3 eulerYXZ) - { - real_t halfA1 = eulerYXZ.y * 0.5f; - real_t halfA2 = eulerYXZ.x * 0.5f; - real_t halfA3 = eulerYXZ.z * 0.5f; - - // R = Y(a1).X(a2).Z(a3) convention for Euler angles. - // Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6) - // a3 is the angle of the first rotation, following the notation in this reference. - - real_t cosA1 = Mathf.Cos(halfA1); - real_t sinA1 = Mathf.Sin(halfA1); - real_t cosA2 = Mathf.Cos(halfA2); - real_t sinA2 = Mathf.Sin(halfA2); - real_t cosA3 = Mathf.Cos(halfA3); - real_t sinA3 = Mathf.Sin(halfA3); - - x = (sinA1 * cosA2 * sinA3) + (cosA1 * sinA2 * cosA3); - y = (sinA1 * cosA2 * cosA3) - (cosA1 * sinA2 * sinA3); - z = (cosA1 * cosA2 * sinA3) - (sinA1 * sinA2 * cosA3); - w = (sinA1 * sinA2 * sinA3) + (cosA1 * cosA2 * cosA3); - } - - /// <summary> /// Constructs a <see cref="Quaternion"/> that will rotate around the given axis /// by the specified angle. The axis must be a normalized vector. /// </summary> @@ -573,6 +544,37 @@ namespace Godot } /// <summary> + /// Constructs a <see cref="Quaternion"/> that will perform a rotation specified by + /// Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last), + /// given in the vector format as (X angle, Y angle, Z angle). + /// </summary> + /// <param name="eulerYXZ">Euler angles that the quaternion will be rotated by.</param> + public static Quaternion FromEuler(Vector3 eulerYXZ) + { + real_t halfA1 = eulerYXZ.y * 0.5f; + real_t halfA2 = eulerYXZ.x * 0.5f; + real_t halfA3 = eulerYXZ.z * 0.5f; + + // R = Y(a1).X(a2).Z(a3) convention for Euler angles. + // Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6) + // a3 is the angle of the first rotation, following the notation in this reference. + + real_t cosA1 = Mathf.Cos(halfA1); + real_t sinA1 = Mathf.Sin(halfA1); + real_t cosA2 = Mathf.Cos(halfA2); + real_t sinA2 = Mathf.Sin(halfA2); + real_t cosA3 = Mathf.Cos(halfA3); + real_t sinA3 = Mathf.Sin(halfA3); + + return new Quaternion( + (sinA1 * cosA2 * sinA3) + (cosA1 * sinA2 * cosA3), + (sinA1 * cosA2 * cosA3) - (cosA1 * sinA2 * sinA3), + (cosA1 * cosA2 * sinA3) - (sinA1 * sinA2 * cosA3), + (sinA1 * sinA2 * sinA3) + (cosA1 * cosA2 * cosA3) + ); + } + + /// <summary> /// Composes these two quaternions by multiplying them together. /// This has the effect of rotating the second quaternion /// (the child) by the first quaternion (the parent). |