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Switched CQuaternion from XYZW to WXYZ, added new conversion functions (Quats->Eulers, Degs<->Rads)

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parax0
2015-08-20 22:18:13 -04:00
parent 3542759c74
commit f0cb6169ae
4 changed files with 48 additions and 15 deletions
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40
Common/CQuaternion.cpp
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@@ -1,21 +1,22 @@
#include "CQuaternion.h"
#include "CQuaternion.h"
#include <cmath>
#include <math.h>
#include <Common/Math.h>
CQuaternion::CQuaternion()
{
x = 0;
y = 0;
z = 0;
w = 0;
w = 0.f;
x = 0.f;
y = 0.f;
z = 0.f;
}
CQuaternion::CQuaternion(float _x, float _y, float _z, float _w)
CQuaternion::CQuaternion(float _w, float _x, float _y, float _z)
{
w = _w;
x = _x;
y = _y;
z = _z;
w = _w;
}
CVector3f CQuaternion::XAxis()
@@ -40,12 +41,25 @@ CQuaternion CQuaternion::Inverse()
if (fNorm > 0.f)
{
float fInvNorm = 1.f / fNorm;
return CQuaternion(-x * fInvNorm, -y * fInvNorm, -z * fInvNorm, w * fInvNorm);
return CQuaternion( w * fInvNorm, -x * fInvNorm, -y * fInvNorm, -z * fInvNorm);
}
else
return CQuaternion::skZero;
}
CVector3f CQuaternion::ToEuler()
{
// There is more than one way to do this conversion, based on rotation order.
// But since we only care about the rotation order used in Retro games, which is consistent,
// we can just have a single conversion function. Handy!
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
float ex = atan2f(2 * (w*x + y*z), 1 - (2 * (Math::Pow(x,2) + Math::Pow(y,2))));
float ey = asinf(2 * (w*y - z*x));
float ez = atan2f(2 * (w*z + x*y), 1 - (2 * (Math::Pow(y,2) + Math::Pow(z,2))));
return CVector3f(Math::RadiansToDegrees(ex), Math::RadiansToDegrees(ey), Math::RadiansToDegrees(ez));
}
// ************ OPERATORS ************
CVector3f CQuaternion::operator*(const CVector3f& vec) const
{
@@ -62,10 +76,10 @@ CVector3f CQuaternion::operator*(const CVector3f& vec) const
CQuaternion CQuaternion::operator*(const CQuaternion& other) const
{
CQuaternion out;
out.w = (-x * other.x) - (y * other.y) - (z * other.z) + (w * other.w);
out.x = ( x * other.w) + (y * other.z) - (z * other.y) + (w * other.x);
out.y = (-x * other.z) + (y * other.w) + (z * other.x) + (w * other.y);
out.z = ( x * other.y) - (y * other.x) + (z * other.w) + (w * other.z);
out.w = (-x * other.x) - (y * other.y) - (z * other.z) + (w * other.w);
return out;
}
@@ -113,16 +127,16 @@ CQuaternion CQuaternion::FromAxisAngle(float angle, CVector3f axis)
{
CQuaternion quat;
axis = axis.Normalized();
angle = angle * 3.14159265358979323846f / 180;
angle = Math::DegreesToRadians(angle);
float sa = sin(angle / 2);
float sa = sinf(angle / 2);
quat.w = cosf(angle / 2);
quat.x = axis.x * sa;
quat.y = axis.y * sa;
quat.z = axis.z * sa;
quat.w = cos(angle / 2);
return quat;
}
CQuaternion CQuaternion::skIdentity = CQuaternion(0.f, 0.f, 0.f, 1.f);
CQuaternion CQuaternion::skIdentity = CQuaternion(1.f, 0.f, 0.f, 0.f);
CQuaternion CQuaternion::skZero = CQuaternion(0.f, 0.f, 0.f, 0.f);