8a3982d625
Quickly converts pitch, yaw, and roll rotations to the Quaternion equivalent orientation, with optimized code.
29 lines
847 B
C
29 lines
847 B
C
#include <c3d/maths.h>
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C3D_FQuat Quat_FromPitchYawRoll(float pitch, float yaw, float roll, bool bRightSide)
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{
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float pitch_c = cosf(pitch / 2.0f);
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float pitch_s = sinf(pitch / 2.0f);
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float yaw_c = cosf(yaw / 2.0f);
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float yaw_s = sinf(yaw / 2.0f);
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float roll_c = cosf(roll / 2.0f);
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float roll_s = sinf(roll / 2.0f);
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if (bRightSide)
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{
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return Quat_New(
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pitch_s * yaw_c * roll_c - pitch_c * yaw_s * roll_s,
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pitch_c * yaw_s * roll_c + pitch_s * yaw_c * roll_s,
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pitch_c * yaw_c * roll_s - pitch_s * yaw_s * roll_c,
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pitch_c * yaw_c * roll_c + pitch_s * yaw_s * roll_s);
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}
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else
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{
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return Quat_New(
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pitch_s * yaw_c * roll_c + pitch_c * yaw_s * roll_s,
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pitch_c * yaw_s * roll_c - pitch_s * yaw_c * roll_s,
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pitch_c * yaw_c * roll_s + pitch_s * yaw_s * roll_c,
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pitch_c * yaw_c * roll_c - pitch_s * yaw_s * roll_s);
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}
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}
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