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made euler to quat xyz. Now I'm trying to test if it works or not

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John Choi
2023-12-07 10:29:07 -06:00
parent abb71a8e32
commit 05ea35ffec
2 changed files with 57 additions and 0 deletions
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27
include/cglm/quat.h
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@@ -139,6 +139,33 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
q[3] = w;
}
//TODO: telephone001's eulertoquat
/*!
* @brief creates a quaternion using rotation angles and does does rotations in x y z order
*
* @param[out] q quaternion
* @param[in] angle angles x y z (radians)
*/
CGLM_INLINE
void
glm_euler_xyz_quat(versor q, vec3 angles) {
float xs = sinf(angles[0] / 2.0);
float xc = cosf(angles[0] / 2.0);
float ys = sinf(angles[1] / 2.0);
float yc = cosf(angles[1] / 2.0);
float zs = sinf(angles[2] / 2.0);
float zc = cosf(angles[2] / 2.0);
glm_quat_init(q,
zc * yc * xs - zs * ys * xs,
zc * ys * xc - zs * yc * xs,
zs * yc * xc - zs * yc * xs,
zc * yc * xc + zs * ys * xs);
}
/*!
* @brief creates NEW quaternion with axis vector
*