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Provide fix for converting euler angles to quaternion

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Fixed API documentation and changed convertion from euler angles to quaterion:

Rotation will applied in following order: 1. xAxis, 2. yAxis, 3. zAxis.
Right hand rule is used here. Rotation is interpreted counter clock wise, in viewing direction of positive axis. Still need to double check that with unit tests.
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Unknown 2018-01-02 17:53:04 +01:00
parent f0e5754abc
commit fca36b19b0
1 changed files with 41 additions and 32 deletions
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73
src/OpenTK/Math/Quaternion.cs
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@ -66,34 +66,36 @@ namespace OpenTK
{ } { }
/// <summary> /// <summary>
/// Construct a new Quaternion from given Euler angles /// Construct a new Quaternion from given Euler angles. The rotations will get applied in following order:
/// 1. Around X, 2. Around Y, 3. Around Z
/// </summary> /// </summary>
/// <param name="pitch">The pitch (attitude), rotation around X axis</param> /// <param name="rotationX">Counterclockwise rotation around X axis in radian</param>
/// <param name="yaw">The yaw (heading), rotation around Y axis</param> /// <param name="rotationY">Counterclockwise rotation around Y axis in radian</param>
/// <param name="roll">The roll (bank), rotation around Z axis</param> /// <param name="rotationZ">Counterclockwise rotation around Z axis in radian</param>
public Quaternion(float pitch, float yaw, float roll) public Quaternion(float rotationX, float rotationY, float rotationZ)
{ {
yaw *= 0.5f; rotationX *= 0.5f;
pitch *= 0.5f; rotationY *= 0.5f;
roll *= 0.5f; rotationZ *= 0.5f;
float c1 = (float)Math.Cos(yaw); float c1 = (float)Math.Cos(rotationX);
float c2 = (float)Math.Cos(pitch); float c2 = (float)Math.Cos(rotationY);
float c3 = (float)Math.Cos(roll); float c3 = (float)Math.Cos(rotationZ);
float s1 = (float)Math.Sin(yaw); float s1 = (float)Math.Sin(rotationX);
float s2 = (float)Math.Sin(pitch); float s2 = (float)Math.Sin(rotationY);
float s3 = (float)Math.Sin(roll); float s3 = (float)Math.Sin(rotationZ);
W = c1 * c2 * c3 - s1 * s2 * s3; W = c1 * c2 * c3 - s1 * s2 * s3;
Xyz.X = s1 * s2 * c3 + c1 * c2 * s3; Xyz.X = s1 * c2 * c3 + c1 * s2 * s3;
Xyz.Y = s1 * c2 * c3 + c1 * s2 * s3; Xyz.Y = c1 * s2 * c3 - s1 * c2 * s3;
Xyz.Z = c1 * s2 * c3 - s1 * c2 * s3; Xyz.Z = c1 * c2 * s3 + s1 * s2 * c3;
} }
/// <summary> /// <summary>
/// Construct a new Quaternion from given Euler angles /// Construct a new Quaternion from given Euler angles. The rotations will get applied in following order:
/// 1. Around X, 2. Around Y, 3. Around Z
/// </summary> /// </summary>
/// <param name="eulerAngles">The euler angles as a Vector3</param> /// <param name="eulerAngles">The counterclockwise euler angles as a Vector3</param>
public Quaternion(Vector3 eulerAngles) public Quaternion(Vector3 eulerAngles)
: this(eulerAngles.X, eulerAngles.Y, eulerAngles.Z) : this(eulerAngles.X, eulerAngles.Y, eulerAngles.Z)
{ } { }
@ -431,10 +433,12 @@ namespace OpenTK
/// <summary> /// <summary>
/// Builds a Quaternion from the given euler angles /// Builds a Quaternion from the given euler angles
/// The rotations will get applied in following order:
/// 1. pitch, 2. yaw, 3. roll
/// </summary> /// </summary>
/// <param name="pitch">The pitch (attitude), rotation around X axis</param> /// <param name="pitch">The pitch (attitude), counterclockwise rotation around X axis</param>
/// <param name="yaw">The yaw (heading), rotation around Y axis</param> /// <param name="yaw">The yaw (heading), counterclockwise rotation around Y axis</param>
/// <param name="roll">The roll (bank), rotation around Z axis</param> /// <param name="roll">The roll (bank), counterclockwise rotation around Z axis</param>
/// <returns></returns> /// <returns></returns>
public static Quaternion FromEulerAngles(float pitch, float yaw, float roll) public static Quaternion FromEulerAngles(float pitch, float yaw, float roll)
{ {
@ -443,8 +447,10 @@ namespace OpenTK
/// <summary> /// <summary>
/// Builds a Quaternion from the given euler angles /// Builds a Quaternion from the given euler angles
/// The rotations will get applied in following order:
/// 1. Around X, 2. Around Y, 3. Around Z
/// </summary> /// </summary>
/// <param name="eulerAngles">The euler angles as a vector</param> /// <param name="eulerAngles">The counterclockwise euler angles as a vector</param>
/// <returns>The equivalent Quaternion</returns> /// <returns>The equivalent Quaternion</returns>
public static Quaternion FromEulerAngles(Vector3 eulerAngles) public static Quaternion FromEulerAngles(Vector3 eulerAngles)
{ {
@ -452,23 +458,26 @@ namespace OpenTK
} }
/// <summary> /// <summary>
/// Builds a Quaternion from the given euler angles /// Builds a Quaternion from the given euler angles in radians.
/// The rotations will get applied in following order:
/// 1. Around X, 2. Around Y, 3. Around Z
/// </summary> /// </summary>
/// <param name="eulerAngles">The euler angles a vector</param> /// <param name="eulerAngles">The counterclockwise euler angles a vector</param>
/// <param name="result">The equivalent Quaternion</param> /// <param name="result">The equivalent Quaternion</param>
public static void FromEulerAngles(ref Vector3 eulerAngles, out Quaternion result) 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 c1 = (float)Math.Cos(eulerAngles.X * 0.5f);
float c2 = (float)Math.Cos(eulerAngles.Y * 0.5f);
float c3 = (float)Math.Cos(eulerAngles.Z * 0.5f); float c3 = (float)Math.Cos(eulerAngles.Z * 0.5f);
float s1 = (float)Math.Sin(eulerAngles.Y * 0.5f); float s1 = (float)Math.Sin(eulerAngles.X * 0.5f);
float s2 = (float)Math.Sin(eulerAngles.X * 0.5f); float s2 = (float)Math.Sin(eulerAngles.Y * 0.5f);
float s3 = (float)Math.Sin(eulerAngles.Z * 0.5f); float s3 = (float)Math.Sin(eulerAngles.Z * 0.5f);
result.W = c1 * c2 * c3 - s1 * s2 * s3; result.W = c1 * c2 * c3 - s1 * s2 * s3;
result.Xyz.X = s1 * s2 * c3 + c1 * c2 * s3; result.Xyz.X = s1 * c2 * c3 + c1 * s2 * s3;
result.Xyz.Y = s1 * c2 * c3 + c1 * s2 * s3; result.Xyz.Y = c1 * s2 * c3 - s1 * c2 * s3;
result.Xyz.Z = c1 * s2 * c3 - s1 * c2 * s3; result.Xyz.Z = c1 * c2 * s3 + s1 * s2 * c3;
} }
/// <summary> /// <summary>