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;
 

Sandbox/src/SandboxApp.bf

@@ -305,6 +305,7 @@ namespace Sandbox
 				entities[x][y] = entity;
 
 				var transform = _world.AssignComponent<TransformComponent>(entity);
+				*transform = TransformComponent();
 				transform.LocalTransform = Matrix.Translation(x * 0.2f, y * 0.2f, 0) * Matrix.Scaling(0.1f);
 
 				var mesh = _world.AssignComponent<MeshComponent>(entity);
@@ -326,7 +327,7 @@ namespace Sandbox
 			var crazyTransform = _world.AssignComponent<TransformComponent>(evenCrazierParent);
 			crazyTransform.Position = .Zero;
 			crazyTransform.Scale = .One;
-			crazyTransform.Rotation = .Zero;
+			crazyTransform.Rotation = .Identity;
 
 			var pp = _world.AssignComponent<ParentComponent>(crazyParent);
 			pp.Entity = evenCrazierParent;
@@ -334,7 +335,7 @@ namespace Sandbox
 			crazyTransform = _world.AssignComponent<TransformComponent>(crazyParent);
 			crazyTransform.Position = .Zero;
 			crazyTransform.Scale = .(2.0f, 2.0f, 2.0f);
-			crazyTransform.Rotation = .Zero;
+			crazyTransform.Rotation = .Identity;
 
 			for(int x < 20)
 			for(int y < 20)
@@ -447,15 +448,30 @@ namespace Sandbox
 			
 			_context.SetRasterizerState(_rasterizerState);
 			
-			var crazyTransform = _world.GetComponent<TransformComponent>(evenCrazierParent);
-			crazyTransform.Rotation += .((float)gameTime.FrameTime.TotalSeconds / 2, 0, 0);
-
-		crazyTransform = _world.GetComponent<TransformComponent>(crazyParent);
+			//var crazyTransform = _world.GetComponent<TransformComponent>(evenCrazierParent);
 			//crazyTransform.Rotation += .((float)gameTime.FrameTime.TotalSeconds / 2, 0, 0);
-	
-			crazyTransform = _world.GetComponent<TransformComponent>(crazyParent);
-			crazyTransform.Rotation += .(0, (float)gameTime.FrameTime.TotalSeconds, 0);
-
+			
+			
+			var crazyTransform = _world.GetComponent<TransformComponent>(crazyParent);
+			if(Input.IsKeyPressed(Key.Six))
+			{
+				crazyTransform.RotationEuler += .((float)gameTime.FrameTime.TotalSeconds, 0, 0);
+			}
+			if(Input.IsKeyPressed(Key.Seven))
+			{
+				crazyTransform.RotationEuler += .(0, (float)gameTime.FrameTime.TotalSeconds, 0);
+			}
+			if(Input.IsKeyPressed(Key.Eight))
+			{
+				Vector3 vec = crazyTransform.RotationEuler;
+				vec += .(0, 0, (float)gameTime.FrameTime.TotalSeconds);
+				crazyTransform.RotationEuler = vec;
+			}
+			if(Input.IsKeyPressed(Key.Nine))
+			{
+				crazyTransform.RotationEuler = .(0, 0, 0);
+			}
+			
 			TransformSystem.Update(_world);
 			
 			for(var (entity, transform, mesh, meshRenderer) in _world.Enumerate<TransformComponent, MeshComponent, MeshRendererComponent>())