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[DEV] add basic euler convertion from quaternion

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This commit is contained in:
Edouard DUPIN 2013-02-16 15:52:28 +01:00
parent c79652bba2
commit 28ffa0fb75
2 changed files with 20 additions and 0 deletions
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17
etk/math/Vector3D.cpp
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@ -56,3 +56,20 @@ etk::CCout& etk::operator <<(etk::CCout &os, const etk::Vector3D<bool> obj)
return os; return os;
} }
vec3 quaternionToEulerXYZ(const btQuaternion& quat)
{
// back to the euler angle :
float xxx = quat.x();
float yyy = quat.y();
float zzz = quat.z();
float www = quat.w();
double xxx2 = xxx*xxx;
double yyy2 = yyy*yyy;
double zzz2 = zzz*zzz;
double www2 = www*www;
// http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
return vec3( atan2(2.0*(yyy*zzz + xxx*www) , (-xxx2-yyy2+zzz2+www2) ),
asin(2.0*(xxx*zzz-yyy*www)),
atan2(2.0*(xxx*yyy + zzz*www), (xxx2-yyy2-zzz2+www2) ) );
}

3
etk/math/Vector3D.h
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@ -16,6 +16,7 @@
#include <LinearMath/btScalar.h> #include <LinearMath/btScalar.h>
#include <LinearMath/btMinMax.h> #include <LinearMath/btMinMax.h>
#include <LinearMath/btVector3.h> #include <LinearMath/btVector3.h>
#include <LinearMath/btQuaternion.h>
namespace etk namespace etk
{ {
@ -451,6 +452,8 @@ typedef etk::Vector3D<uint32_t> uivec3;
typedef etk::Vector3D<bool> bvec3; typedef etk::Vector3D<bool> bvec3;
vec3 quaternionToEulerXYZ(const btQuaternion& quat);
#endif #endif