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Optimizing code.

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This commit is contained in:
Thompson Lee 2016-08-17 17:20:28 -04:00
parent 0452029690
commit 8097e9ebe2
2 changed files with 29 additions and 4 deletions
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5
include/c3d/maths.h
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@ -676,8 +676,5 @@ static inline C3D_FVec FVec3_CrossQuat(C3D_FVec v, C3D_FQuat q)
* @param[in] roll The roll angle in radians.
* @return C3D_FQuat The Quaternion equivalent with the pitch, yaw, and roll orientations applied.
*/
static inline C3D_FQuat Quat_FromPitchYawRoll(float pitch, float yaw, float roll)
{
return Quat_RotateZ(Quat_RotateY(Quat_RotateX(Quat_Identity(), pitch, false), yaw, false), roll, false);
}
C3D_FQuat Quat_FromPitchYawRoll(float pitch, float yaw, float roll, bool bRightSide);
///@}

28
source/maths/quat_frompitchyawroll.c Normal file
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@ -0,0 +1,28 @@
#include <c3d/maths.h>
C3D_FQuat Quat_FromPitchYawRoll(float pitch, float yaw, float roll, bool bRightSide)
{
float pitch_c = cosf(pitch / 2.0f);
float pitch_s = sinf(pitch / 2.0f);
float yaw_c = cosf(yaw / 2.0f);
float yaw_s = sinf(yaw / 2.0f);
float roll_c = cosf(roll / 2.0f);
float roll_s = sinf(roll / 2.0f);
if (bRightSide)
{
return Quat_New(
pitch_s * yaw_c * roll_c - pitch_c * yaw_s * roll_s,
pitch_c * yaw_s * roll_c + pitch_s * yaw_c * roll_s,
pitch_c * yaw_c * roll_s - pitch_s * yaw_s * roll_c,
pitch_c * yaw_c * roll_c + pitch_s * yaw_s * roll_s);
}
else
{
return Quat_New(
pitch_s * yaw_c * roll_c + pitch_c * yaw_s * roll_s,
pitch_c * yaw_s * roll_c - pitch_s * yaw_c * roll_s,
pitch_c * yaw_c * roll_s + pitch_s * yaw_s * roll_c,
pitch_c * yaw_c * roll_c - pitch_s * yaw_s * roll_s);
}
}