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Fixed angle conversion issues

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Fixed a variable name and method that should be const.
Also fixed several angle conversion functions that didn't convert the
angle correct.
This commit is contained in:
Nathan Bowhay 2015-02-03 12:16:06 -08:00
parent c7e0d83587
commit ad267f0505
3 changed files with 43 additions and 28 deletions
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67
Engine/source/math/mQuat.cpp
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@ -32,33 +32,48 @@ const QuatF QuatF::Identity(0.0f,0.0f,0.0f,1.0f);
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 );
/*
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 );
// 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
//
// The code that folows is a simplification of:
// 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;
x = cycz*sx + sysz*cx;
y = sycz*cx + cysz*sx;
z = cysz*cx - sycz*sx;
// 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
//
// The code that folows is a simplification of:
// 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;
x = cycz*sx + sysz*cx;
y = sycz*cx - cysz*sx;
z = cysz*cx - sycz*sx;
*/
// Assuming the angles are in radians.
F32 c1 = mCos(e.y/2.0f);
F32 s1 = mSin(e.y/2.0f);
F32 c2 = mCos(e.z/2.0f);
F32 s2 = mSin(e.z/2.0f);
F32 c3 = mCos(e.x/2.0f);
F32 s3 = mSin(e.x/2.0f);
F32 c1c2 = c1*c2;
F32 s1s2 = s1*s2;
w =c1c2*c3 - s1s2*s3;
x =c1c2*s3 + s1s2*c3;
y =s1*c2*c3 + c1*s2*s3;
z =c1*s2*c3 - s1*c2*s3;
return *this;
return *this;
}
QuatF& QuatF::operator *=( const QuatF & b )
@ -289,7 +304,7 @@ QuatF & QuatF::interpolate( const QuatF & q1, const QuatF & q2, F32 t )
return *this;
}
Point3F & QuatF::mulP(const Point3F& p, Point3F* r)
Point3F & QuatF::mulP(const Point3F& p, Point3F* r) const
{
QuatF qq;
QuatF qi = *this;