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Allow getting Quaternion rotation in different Euler orders

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This commit is contained in:
Aaron Franke
2022-10-01 21:54:19 -05:00
parent 889868cbbc
commit 9e952c8386
7 changed files with 31 additions and 29 deletions
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18
core/math/quaternion.cpp
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@@ -38,25 +38,11 @@ real_t Quaternion::angle_to(const Quaternion &p_to) const {
return Math::acos(CLAMP(d * d * 2 - 1, -1, 1));
}
// get_euler_xyz returns a vector containing the Euler angles in the format
// (ax,ay,az), where ax is the angle of rotation around x axis,
// and similar for other axes.
// This implementation uses XYZ convention (Z is the first rotation).
Vector3 Quaternion::get_euler_xyz() const {
Basis m(*this);
return m.get_euler(EulerOrder::XYZ);
}
// get_euler_yxz returns a vector containing the Euler angles in the format
// (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).
Vector3 Quaternion::get_euler_yxz() const {
Vector3 Quaternion::get_euler(EulerOrder p_order) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Vector3(0, 0, 0), "The quaternion must be normalized.");
#endif
Basis m(*this);
return m.get_euler(EulerOrder::YXZ);
return Basis(*this).get_euler(p_order);
}
void Quaternion::operator*=(const Quaternion &p_q) {