Changed Rotation from Euler to Quaternion (TransformComponent)

GlitchyEngine/src/World/TransformComponent.bf

@@ -5,13 +5,13 @@ namespace GlitchyEngine.World
 	public struct TransformComponent
 	{
 		Vector3 _position = .Zero;
-		Vector3 _rotation = .Zero;
+		Quaternion _rotation = .Identity;
 		Vector3 _scale = .One;
 
-		Matrix _localTransform;
-		public bool IsDirty;
+		Matrix _localTransform = .Identity;
+		public bool IsDirty = false;;
 
-		public Matrix WorldTransform;
+		public Matrix WorldTransform = .Identity;
 
 		/// The frame when the transform was recalculated
 		public uint Frame;
@@ -35,7 +35,8 @@ namespace GlitchyEngine.World
 			}
 		}
 
-		public Vector3 Rotation
+		/// Gets or sets the rotation.
+		public Quaternion Rotation
 		{
 			get => _rotation;
 			set mut
@@ -47,6 +48,44 @@ namespace GlitchyEngine.World
 				IsDirty = true;
 			}
 		}
+		
+		/**
+		 * Gets or sets the rotation using euler angles.
+		 * @Note The rotations will be applied in the following order: YZX (the order in the vector is still XYZ!)
+		 */
+		public Vector3 RotationEuler
+		{
+			get => Quaternion.ToEulerAngles(_rotation);
+			set mut
+			{
+				Quaternion quat = Quaternion.FromEulerAngles(value.Y, value.X, value.Z);
+
+				if(_rotation == quat)
+					return;
+
+				_rotation = quat;
+				IsDirty = true;
+			}
+		}
+		
+		/**
+		 * Gets or sets the rotation using axis angle, where Axis is the axis around which will be rotated and angle is the angle
+		 * that was rotated around the axis in radians.
+		 */
+		public (Vector3 Axis, float Angle) RotationAxisAngle
+		{
+			get => _rotation.ToAxisAngle();
+			set mut
+			{
+				Quaternion quat = Quaternion.FromAxisAngle(value.Axis, value.Angle);
+
+				if(_rotation == quat)
+					return;
+
+				_rotation = quat;
+				IsDirty = true;
+			}
+		}
 
 		public Vector3 Scale
 		{

GlitchyEngine/src/World/TransformSystem.bf

@@ -16,7 +16,7 @@ namespace GlitchyEngine.World
 
 		private static void UpdateEntity(Entity entity, TransformComponent* transform, EcsWorld world)
 		{
-			// Todo: this probably needs a rewrite as it may scale poorly with deep hierarchies!
+			// Todo: test scaling with deep hierarchies!
 
 			// transform was updated this frame -> skip
 			if(transform.Frame == _frame)
@@ -28,8 +28,7 @@ namespace GlitchyEngine.World
 
 			if(transform.IsDirty)
 			{
-				transform.LocalTransform = .Translation(transform.Position) * .RotationX(transform.Rotation.X) *
-					.RotationY(transform.Rotation.Y) * .RotationZ(transform.Rotation.Z) * .Scaling(transform.Scale);
+				transform.LocalTransform = .Translation(transform.Position) * .RotationQuaternion(transform.Rotation) * .Scaling(transform.Scale);
 
 				transform.IsDirty = false;