diff options
Diffstat (limited to 'core/math/quaternion.cpp')
| -rw-r--r-- | core/math/quaternion.cpp | 17 |
1 files changed, 13 insertions, 4 deletions
diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp index 3f1d2c58e5..2ce603cb13 100644 --- a/core/math/quaternion.cpp +++ b/core/math/quaternion.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -44,7 +44,7 @@ real_t Quaternion::angle_to(const Quaternion &p_to) const { // This implementation uses XYZ convention (Z is the first rotation). Vector3 Quaternion::get_euler_xyz() const { Basis m(*this); - return m.get_euler_xyz(); + return m.get_euler(Basis::EULER_ORDER_XYZ); } // get_euler_yxz returns a vector containing the Euler angles in the format @@ -56,7 +56,7 @@ Vector3 Quaternion::get_euler_yxz() const { ERR_FAIL_COND_V_MSG(!is_normalized(), Vector3(0, 0, 0), "The quaternion must be normalized."); #endif Basis m(*this); - return m.get_euler_yxz(); + return m.get_euler(Basis::EULER_ORDER_YXZ); } void Quaternion::operator*=(const Quaternion &p_q) { @@ -189,6 +189,15 @@ Quaternion::operator String() const { return "(" + String::num_real(x, false) + ", " + String::num_real(y, false) + ", " + String::num_real(z, false) + ", " + String::num_real(w, false) + ")"; } +Vector3 Quaternion::get_axis() const { + real_t r = ((real_t)1) / Math::sqrt(1 - w * w); + return Vector3(x * r, y * r, z * r); +} + +float Quaternion::get_angle() const { + return 2 * Math::acos(w); +} + Quaternion::Quaternion(const Vector3 &p_axis, real_t p_angle) { #ifdef MATH_CHECKS ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "The axis Vector3 must be normalized."); |