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Merge pull request #187 from Lazzu/develop

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Added support for Euler angles in Quaternion structs
This commit is contained in:
thefiddler 2014-10-13 18:24:14 +02:00
parent 1f96bc87f4 6c53ab6623
commit e520ef6175
2 changed files with 158 additions and 0 deletions
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79
Source/OpenTK/Math/Quaternion.cs
View file

@ -67,6 +67,39 @@ namespace OpenTK
: this(new Vector3(x, y, z), w)
{ }
/// <summary>
/// Construct a new Quaternion from given Euler angles
/// </summary>
/// <param name="pitch">The pitch (attitude), rotation around X axis</param>
/// <param name="yaw">The yaw (heading), rotation around Y axis</param>
/// <param name="roll">The roll (bank), rotation around Z axis</param>
public Quaternion(float pitch, float yaw, float roll)
{
yaw *= 0.5f;
pitch *= 0.5f;
roll *= 0.5f;
float c1 = (float)Math.Cos(yaw);
float c2 = (float)Math.Cos(pitch);
float c3 = (float)Math.Cos(roll);
float s1 = (float)Math.Sin(yaw);
float s2 = (float)Math.Sin(pitch);
float s3 = (float)Math.Sin(roll);
this.w = c1 * c2 * c3 - s1 * s2 * s3;
this.xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
this.xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
this.xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
}
/// <summary>
/// Construct a new Quaternion from given Euler angles
/// </summary>
/// <param name="eulerAngles">The euler angles as a Vector3</param>
public Quaternion(Vector3 eulerAngles)
:this(eulerAngles.X, eulerAngles.Y, eulerAngles.Z)
{ }
#endregion
#region Public Members
@ -512,6 +545,52 @@ namespace OpenTK
#endregion
#region FromEulerAngles
/// <summary>
/// Builds a Quaternion from the given euler angles
/// </summary>
/// <param name="pitch">The pitch (attitude), rotation around X axis</param>
/// <param name="yaw">The yaw (heading), rotation around Y axis</param>
/// <param name="roll">The roll (bank), rotation around Z axis</param>
/// <returns></returns>
public static Quaternion FromEulerAngles(float pitch, float yaw, float roll)
{
return new Quaternion(pitch, yaw, roll);
}
/// <summary>
/// Builds a Quaternion from the given euler angles
/// </summary>
/// <param name="eulerAngles">The euler angles as a vector</param>
/// <returns>The equivalent Quaternion</returns>
public static Quaternion FromEulerAngles(Vector3 eulerAngles)
{
return new Quaternion(eulerAngles);
}
/// <summary>
/// Builds a Quaternion from the given euler angles
/// </summary>
/// <param name="eulerAngles">The euler angles a vector</param>
/// <param name="result">The equivalent Quaternion</param>
public static void FromEulerAngles(ref Vector3 eulerAngles, out Quaternion result)
{
float c1 = (float)Math.Cos(eulerAngles.Y * 0.5f);
float c2 = (float)Math.Cos(eulerAngles.X * 0.5f);
float c3 = (float)Math.Cos(eulerAngles.Z * 0.5f);
float s1 = (float)Math.Sin(eulerAngles.Y * 0.5f);
float s2 = (float)Math.Sin(eulerAngles.X * 0.5f);
float s3 = (float)Math.Sin(eulerAngles.Z * 0.5f);
result.w = c1 * c2 * c3 - s1 * s2 * s3;
result.xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
result.xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
result.xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
}
#endregion
#region FromMatrix
/// <summary>

79
Source/OpenTK/Math/Quaterniond.cs
View file

@ -67,6 +67,39 @@ namespace OpenTK
: this(new Vector3d(x, y, z), w)
{ }
/// <summary>
/// Construct a new Quaterniond from given Euler angles
/// </summary>
/// <param name="pitch">The pitch (attitude), rotation around X axis</param>
/// <param name="yaw">The yaw (heading), rotation around Y axis</param>
/// <param name="roll">The roll (bank), rotation around Z axis</param>
public Quaterniond(double pitch, double yaw, double roll)
{
yaw *= 0.5;
pitch *= 0.5;
roll *= 0.5;
double c1 = Math.Cos(yaw);
double c2 = Math.Cos(pitch);
double c3 = Math.Cos(roll);
double s1 = Math.Sin(yaw);
double s2 = Math.Sin(pitch);
double s3 = Math.Sin(roll);
this.w = c1 * c2 * c3 - s1 * s2 * s3;
this.xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
this.xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
this.xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
}
/// <summary>
/// Construct a new Quaterniond from given Euler angles
/// </summary>
/// <param name="eulerAngles">The euler angles as a Vector3d</param>
public Quaterniond(Vector3d eulerAngles)
:this(eulerAngles.X, eulerAngles.Y, eulerAngles.Z)
{ }
#endregion
#region Public Members
@ -511,6 +544,52 @@ namespace OpenTK
#endregion
#region FromEulerAngles
/// <summary>
/// Builds a Quaterniond from the given euler angles
/// </summary>
/// <param name="pitch">The pitch (attitude), rotation around X axis</param>
/// <param name="yaw">The yaw (heading), rotation around Y axis</param>
/// <param name="roll">The roll (bank), rotation around Z axis</param>
/// <returns></returns>
public static Quaterniond FromEulerAngles(double pitch, double yaw, double roll)
{
return new Quaterniond(pitch, yaw, roll);
}
/// <summary>
/// Builds a Quaterniond from the given euler angles
/// </summary>
/// <param name="eulerAngles">The euler angles as a vector</param>
/// <returns>The equivalent Quaterniond</returns>
public static Quaterniond FromEulerAngles(Vector3d eulerAngles)
{
return new Quaterniond(eulerAngles);
}
/// <summary>
/// Builds a Quaterniond from the given euler angles
/// </summary>
/// <param name="eulerAngles">The euler angles a vector</param>
/// <param name="result">The equivalent Quaterniond</param>
public static void FromEulerAngles(ref Vector3d eulerAngles, out Quaterniond result)
{
double c1 = Math.Cos(eulerAngles.Y * 0.5);
double c2 = Math.Cos(eulerAngles.X * 0.5);
double c3 = Math.Cos(eulerAngles.Z * 0.5);
double s1 = Math.Sin(eulerAngles.Y * 0.5);
double s2 = Math.Sin(eulerAngles.X * 0.5);
double s3 = Math.Sin(eulerAngles.Z * 0.5);
result.w = c1 * c2 * c3 - s1 * s2 * s3;
result.xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
result.xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
result.xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
}
#endregion
#region FromMatrix
/// <summary>