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AngAxis toEuler

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Add Euler set and to functions to AngAxis.
Removes the need to use a matrix
This commit is contained in:
marauder2k7 2023-06-13 15:11:28 +01:00
parent a4e2bfe34e
commit 5527207805
3 changed files with 72 additions and 5 deletions
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67
Engine/source/math/mAngAxis.cpp
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@ -34,6 +34,42 @@ AngAxisF & AngAxisF::set( const QuatF & q )
axis.set(1.0f,0.0f,0.0f);
return *this;
}
AngAxisF& AngAxisF::set(const EulerF& eul)
{
F32 c1 = mCos(eul.y / 2);
F32 s1 = mSin(eul.y / 2);
F32 c2 = mCos(eul.z / 2);
F32 s2 = mSin(eul.z / 2);
F32 c3 = mCos(eul.x / 2);
F32 s3 = mSin(eul.x / 2);
F32 c1c2 = c1 * c2;
F32 s1s2 = s1 * s2;
F32 w = c1c2 * c3 - s1s2 * s3;
F32 x = c1c2 * s3 + s1s2 * c3;
F32 y = s1 * c2 * c3 + c1 * s2 * s3;
F32 z = c1 * s2 * c3 - s1 * c2 * s3;
angle = 2.0f * mAcos(w);
F32 norm = x * x + y * y + z * z;
if (norm < POINT_EPSILON)
{
axis.set(1.0f, 0.0f, 0.0f);
}
else
{
norm = mSqrt(norm);
x /= norm;
y /= norm;
z /= norm;
}
axis.set(x, y, z);
return *this;
}
AngAxisF & AngAxisF::set( const MatrixF & mat )
{
@ -93,3 +129,34 @@ void AngAxisF::RotateZ(F32 angle, const Point3F & from, Point3F * to)
mat.mulV(from,to);
}
EulerF AngAxisF::toEuler() const
{
EulerF r;
F32 s = mSin(angle);
F32 c = mCos(angle);
F32 invc = 1 - c;
if ((axis.x * axis.y * invc + axis.z * s) > (1 - POINT_EPSILON))
{
r.y = 2.0f * mAtan2(axis.x * mSin(angle / 2), mCos(angle / 2));
r.z = -M_HALFPI_F;
r.x = 0.f;
return r;
}
if ((axis.x * axis.y * invc + axis.z * s) < -(1 - POINT_EPSILON))
{
r.y = -2.0f * mAtan2(axis.x * mSin(angle / 2), mCos(angle / 2));
r.z = -M_HALFPI_F;
r.x = 0.f;
return r;
}
r.x = mAtan2(axis.x * s - axis.y * axis.z * invc, 1.0f - (axis.x * axis.x + axis.z * axis.z) * invc);
r.y = mAtan2(axis.y * s - axis.x * axis.z * invc, 1.0f - (axis.y * axis.y + axis.z * axis.z) * invc);
r.z = mAsin(axis.x * axis.y * invc + axis.z * s);
return r;
}