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Return angles as degrees

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Ray 2017-05-04 17:41:51 +02:00
parent 18b31f6792
commit 70a7c65668
1 changed files with 4 additions and 3 deletions
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7
src/raymath.h
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@ -1203,6 +1203,7 @@ RMDEF Quaternion QuaternionFromEuler(float roll, float pitch, float yaw)
}
// Return the Euler angles equivalent to quaternion (roll, pitch, yaw)
// NOTE: Angles are returned in a Vector3 struct and in degrees
RMDEF Vector3 QuaternionToEuler(Quaternion q)
{
Vector3 v = { 0 };
@ -1210,18 +1211,18 @@ RMDEF Vector3 QuaternionToEuler(Quaternion q)
// 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);
v.x = atan2f(x0, x1)*RAD2DEG;
// 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);
v.y = asinf(y0)*RAD2DEG;
// 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);
v.z = atan2f(z0, z1)*RAD2DEG;
return v;
}