From d35287b6e49fe265729d1d8a83630cb4ff7e6367 Mon Sep 17 00:00:00 2001 From: iwubcode Date: Sat, 26 Dec 2020 23:08:40 -0600 Subject: [PATCH] Common: update Quaternion to allow rotating pitch, yaw, and roll all at once --- Source/Core/Common/Matrix.cpp | 7 +++++++ Source/Core/Common/Matrix.h | 4 ++++ 2 files changed, 11 insertions(+) diff --git a/Source/Core/Common/Matrix.cpp b/Source/Core/Common/Matrix.cpp index 421dda28f5..9f5ff40cb3 100644 --- a/Source/Core/Common/Matrix.cpp +++ b/Source/Core/Common/Matrix.cpp @@ -56,6 +56,13 @@ Quaternion Quaternion::RotateZ(float rad) return Rotate(rad, Vec3(0, 0, 1)); } +Quaternion Quaternion::RotateXYZ(const Vec3& rads) +{ + const auto length = rads.Length(); + return length ? Common::Quaternion::Rotate(length, rads / length) : + Common::Quaternion::Identity(); +} + Quaternion Quaternion::Rotate(float rad, const Vec3& axis) { const auto sin_angle_2 = std::sin(rad / 2); diff --git a/Source/Core/Common/Matrix.h b/Source/Core/Common/Matrix.h index 7c679a6229..a1c9f088c6 100644 --- a/Source/Core/Common/Matrix.h +++ b/Source/Core/Common/Matrix.h @@ -337,6 +337,10 @@ public: static Quaternion RotateY(float rad); static Quaternion RotateZ(float rad); + // Returns a quaternion with rotations about each axis simulatenously (e.g processing gyroscope + // input) + static Quaternion RotateXYZ(const Vec3& rads); + static Quaternion Rotate(float rad, const Vec3& axis); Quaternion() = default;