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Add deg/rad variants of quaternion/euler conversion

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This commit is contained in:
Lars Mueller 2022-01-22 16:40:49 +01:00
parent d54e76c138
commit f7bb444f78
1 changed files with 12 additions and 3 deletions
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15
quaternion.lua
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@ -19,6 +19,10 @@ function from_euler_rotation(rotation)
}
end
function from_euler_rotation_deg(rotation)
return from_euler_rotation(vector.apply(rotation, math.rad))
end
function multiply(self, other)
return {
other[1] * self[1] - other[2] * self[2] - other[3] * self[3] - other[4] * self[4],
@ -93,8 +97,7 @@ function to_axis_angle(self)
return len == 0 and axis or axis:divide_scalar(-len), 2 * math.atan2(len, self[4])
end
--> {x = pitch, y = yaw, z = roll} euler rotation in degrees
function to_euler_rotation(self)
function to_euler_rotation_rad(self)
local rotation = {}
local sinr_cosp = 2 * (self[4] * self[1] + self[2] * self[3])
@ -114,7 +117,13 @@ function to_euler_rotation(self)
local cosy_cosp = 1 - 2 * (self[2] ^ 2 + self[3] ^ 2)
rotation.z = math.atan2(siny_cosp, cosy_cosp)
return vector.apply(rotation, math.deg)
return rotation
end
-- TODO rename this to to_euler_rotation_deg eventually (breaking change)
--> {x = pitch, y = yaw, z = roll} euler rotation in degrees
function to_euler_rotation(self)
return vector.apply(to_euler_rotation_rad(self), math.deg)
end
-- See https://github.com/zaki/irrlicht/blob/master/include/quaternion.h#L652