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Common: update Quaternion to allow rotating pitch, yaw, and roll all at once

This commit is contained in:
iwubcode 2020-12-26 23:08:40 -06:00
parent 544692f96a
commit d35287b6e4
2 changed files with 11 additions and 0 deletions
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7
Source/Core/Common/Matrix.cpp
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@ -56,6 +56,13 @@ Quaternion Quaternion::RotateZ(float rad)
return Rotate(rad, Vec3(0, 0, 1)); 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) Quaternion Quaternion::Rotate(float rad, const Vec3& axis)
{ {
const auto sin_angle_2 = std::sin(rad / 2); const auto sin_angle_2 = std::sin(rad / 2);

4
Source/Core/Common/Matrix.h
View File

@ -337,6 +337,10 @@ public:
static Quaternion RotateY(float rad); static Quaternion RotateY(float rad);
static Quaternion RotateZ(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); static Quaternion Rotate(float rad, const Vec3& axis);
Quaternion() = default; Quaternion() = default;