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Added two new functions to raymath

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Ray 2017-05-04 00:35:41 +02:00
parent 9c66d961d0
commit 18b31f6792
1 changed files with 48 additions and 2 deletions
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50
src/raymath.h
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@ -189,8 +189,10 @@ RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); //
RMDEF Quaternion QuaternionFromMatrix(Matrix matrix); // Returns a quaternion for a given rotation matrix
RMDEF Matrix QuaternionToMatrix(Quaternion q); // Returns a matrix for a given quaternion
RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle); // Returns rotation quaternion for an angle and axis
RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle); // Returns the rotation angle and axis for a given quaternion
RMDEF void QuaternionTransform(Quaternion *q, Matrix mat); // Transform a quaternion given a transformation matrix
RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle); // Returns the rotation angle and axis for a given quaternion
RMDEF Quaternion QuaternionFromEuler(float roll, float pitch, float yaw); // Returns he quaternion equivalent to Euler angles
RMDEF Vector3 QuaternionToEuler(Quaternion q); // Return the Euler angles equivalent to quaternion (roll, pitch, yaw)
RMDEF void QuaternionTransform(Quaternion *q, Matrix mat); // Transform a quaternion given a transformation matrix
#endif // notdef RAYMATH_EXTERN_INLINE
@ -1180,6 +1182,50 @@ RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle
*outAngle = resAngle;
}
// Returns he quaternion equivalent to Euler angles
RMDEF Quaternion QuaternionFromEuler(float roll, float pitch, float yaw)
{
Quaternion q = { 0 };
float x0 = cosf(roll*0.5f);
float x1 = sinf(roll*0.5f);
float y0 = cosf(pitch*0.5f);
float y1 = sinf(pitch*0.5f);
float z0 = cosf(yaw*0.5f);
float z1 = sinf(yaw*0.5f);
q.x = x1*y0*z0 - x0*y1*z1;
q.y = x0*y1*z0 + x1*y0*z1;
q.z = x0*y0*z1 - x1*y1*z0;
q.w = x0*y0*z0 + x1*y1*z1;
return q;
}
// Return the Euler angles equivalent to quaternion (roll, pitch, yaw)
RMDEF Vector3 QuaternionToEuler(Quaternion q)
{
Vector3 v = { 0 };
// roll (x-axis rotation)
float x0 = 2.0f*(q.w*q.x + q.y*q.z);
float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
v.x = atan2f(x0, x1);
// pitch (y-axis rotation)
float y0 = 2.0f*(q.w*q.y - q.z*q.x);
y0 = y0 > 1.0f ? 1.0f : y0;
y0 = y0 < -1.0f ? -1.0f : y0;
v.y = asinf(y0);
// yaw (z-axis rotation)
float z0 = 2.0f*(q.w*q.z + q.x*q.y);
float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
v.z = atan2f(z0, z1);
return v;
}
// Transform a quaternion given a transformation matrix
RMDEF void QuaternionTransform(Quaternion *q, Matrix mat)
{