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Merge pull request #794 from Azaezel/euler_to_quat_revert

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Euler to quat reversion
This commit is contained in:
Daniel Buckmaster 2014-09-30 18:59:37 +10:00
parent f56c35019f f678a19be8
commit 47020b580c
1 changed files with 11 additions and 11 deletions
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22
Engine/source/math/mQuat.cpp
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@ -35,27 +35,27 @@ QuatF& QuatF::set( const EulerF & e )
F32 cx, sx;
F32 cy, sy;
F32 cz, sz;
mSinCos( e.x * 0.5f, sx, cx );
mSinCos( e.y * 0.5f, sy, cy );
mSinCos( e.z * 0.5f, sz, cz );
mSinCos( -e.x * 0.5f, sx, cx );
mSinCos( -e.y * 0.5f, sy, cy );
mSinCos( -e.z * 0.5f, sz, cz );
// Qyaw(z) = [ (0, 0, sin z/2), cos z/2 ]
// Qyaw(z) = [ (0, 0, sin z/2), cos z/2 ]
// Qpitch(x) = [ (sin x/2, 0, 0), cos x/2 ]
// Qroll(y) = [ (0, sin y/2, 0), cos y/2 ]
// this = Qresult = Qyaw*Qpitch*Qroll ZXY
// Qroll(y) = [ (0, sin y/2, 0), cos y/2 ]
// this = Qresult = Qyaw*Qpitch*Qroll ZXY
//
// The code that folows is a simplification of:
// roll*=pitch;
// roll*=yaw;
// *this = roll;
// roll*=pitch;
// roll*=yaw;
// *this = roll;
F32 cycz, sysz, sycz, cysz;
cycz = cy*cz;
sysz = sy*sz;
sycz = sy*cz;
cysz = cy*sz;
w = cycz*cx - sysz*sx;
w = cycz*cx + sysz*sx;
x = cycz*sx + sysz*cx;
y = sycz*cx + cysz*sx;
y = sycz*cx - cysz*sx;
z = cysz*cx - sycz*sx;
return *this;