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Add quaternion.from_euler_rotation

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Lars Mueller 2021-02-06 12:01:47 +01:00
parent 525f0dc2de
commit 24b1a90d0a
1 changed files with 15 additions and 1 deletions
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16
quaternion.lua
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@ -1,3 +1,17 @@
-- TODO OOP, extend vector
function from_euler_rotation(rotation)
rotation = vector.divide(rotation, 2)
local cos = vector.apply(rotation, math.cos)
local sin = vector.apply(rotation, math.sin)
return {
sin.z * cos.x * cos.y - cos.z * sin.x * sin.y,
cos.z * sin.x * cos.y + sin.z * cos.x * sin.y,
cos.z * cos.x * sin.y - sin.z * sin.x * cos.y,
cos.z * cos.x * cos.y + sin.z * sin.x * sin.y
}
end
function multiply(self, other) function multiply(self, other)
return { return {
other[1] * self[1] - other[2] * self[2] - other[3] * self[3] - other[4] * self[4], other[1] * self[1] - other[2] * self[2] - other[3] * self[3] - other[4] * self[4],
@ -60,7 +74,7 @@ function slerp(self, other, ratio)
return modlib.vector.add(modlib.vector.multiply_scalar(self, s_0), modlib.vector.multiply_scalar(other, s_1)) return modlib.vector.add(modlib.vector.multiply_scalar(self, s_0), modlib.vector.multiply_scalar(other, s_1))
end end
--> {x, y, z} euler rotation in degrees --> {x = pitch, y = yaw, z = roll} euler rotation in degrees
function to_euler_rotation(self) function to_euler_rotation(self)
local rotation = {} local rotation = {}