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Better Transform component and edit gui

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This commit is contained in:
Simon Lübeß
2022-04-09 12:35:36 +02:00
parent c7fde476e8
commit af37154071
18 changed files with 341 additions and 208 deletions
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GlitchyEngine/src/Math/Quaternion.bf
+43 -13
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@@ -314,35 +314,65 @@ namespace GlitchyEngine.Math
return result;
}
public static Vector3 ToEulerAngles(Quaternion q1)
public static Vector3 ToEulerAngles(Quaternion q)
{
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
Vector3 result;
float sqw = q1.W*q1.W;
float sqx = q1.X*q1.X;
float sqy = q1.Y*q1.Y;
float sqz = q1.Z*q1.Z;
float sqw = q.W*q.W;
float sqx = q.X*q.X;
float sqy = q.Y*q.Y;
float sqz = q.Z*q.Z;
float unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
float test = q1.X*q1.Y + q1.Z*q1.W;
if (test > 0.499f*unit) { // singularity at north pole
result.Y = 2.0f * Math.Atan2(q1.X,q1.W);
float test = q.X*q.Y + q.Z*q.W;
if (test > 0.4999f*unit) { // singularity at north pole
result.Y = 2.0f * Math.Atan2(q.X,q.W);
result.Z = Math.PI_f / 2.0f;
result.X = 0.0f;
return result;
}
if (test < -0.499f*unit) { // singularity at south pole
result.Y = -2.0f * Math.Atan2(q1.X,q1.W);
if (test < -0.4999f*unit) { // singularity at south pole
result.Y = -2.0f * Math.Atan2(q.X,q.W);
result.Z = -Math.PI_f / 2.0f;
result.X = 0.0f;
return result;
}
result.Y = Math.Atan2(2*q1.Y*q1.W-2*q1.X*q1.Z , sqx - sqy - sqz + sqw);
result.Y = Math.Atan2(2*q.Y*q.W-2*q.X*q.Z , sqx - sqy - sqz + sqw);
result.Z = Math.Asin(2*test/unit);
result.X = Math.Atan2(2*q1.X*q1.W-2*q1.Y*q1.Z , -sqx + sqy - sqz + sqw);
result.X = Math.Atan2(2*q.X*q.W-2*q.Y*q.Z , -sqx + sqy - sqz + sqw);
return result;
//return .(q.Pitch(), q.Yaw(), q.Roll());
}
/*
public float Pitch()
{
float y = 2.0f * (Y * Z + W * X);
float x = W * W - X * X - Y * Y + Z * Z;
if (Vector2(x, y).Equals(.Zero)) //avoid atan2(0,0) - handle singularity - Matiis
return 2.0f * Math.Atan2(X, W);
return Math.Atan2(y, x);
}
public float Yaw()
{
return Math.Asin(Math.Clamp(-2.0f * (X * Z - W * Y), -1.0f, 1.0f));
}
public float Roll()
{
float y = 2.0f * (X * Y + W * Z);
float x = W * W + X * X - Y * Y - Z * Z;
if (Vector2(x, y).Equals(.Zero)) //avoid atan2(0,0) - handle singularity - Matiis
return 0;
return Math.Atan2(y, x);
}
*/
}
}