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EulerAngles simplification

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Former-commit-id: 775b07a51077e6f17b9fe05773dc5c277c49919d
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Gawaboumga
2015-08-21 11:53:16 +02:00
parent b4f926d3ca
commit 077584ec49
2 changed files with 94 additions and 4 deletions
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15
include/Nazara/Math/EulerAngles.inl
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@@ -91,11 +91,18 @@ void NzEulerAngles<T>::Set(const NzEulerAngles<U>& angles)
template<typename T>
NzQuaternion<T> NzEulerAngles<T>::ToQuaternion() const
{
NzQuaternion<T> rotX(pitch, NzVector3<T>::UnitX());
NzQuaternion<T> rotY(yaw, NzVector3<T>::UnitY());
NzQuaternion<T> rotZ(roll, NzVector3<T>::UnitZ());
T c1 = std::cos(NzToRadians(yaw) / F(2.0));
T c2 = std::cos(NzToRadians(roll) / F(2.0));
T c3 = std::cos(NzToRadians(pitch) / F(2.0));
return rotY * rotX * rotZ;
T s1 = std::sin(NzToRadians(yaw) / F(2.0));
T s2 = std::sin(NzToRadians(roll) / F(2.0));
T s3 = std::sin(NzToRadians(pitch) / F(2.0));
return NzQuaternion<T>(c1 * c2 * c3 - s1 * s2 * s3,
s1 * s2 * c3 + c1 * c2 * s3,
s1 * c2 * c3 + c1 * s2 * s3,
c1 * s2 * c3 - s1 * c2 * s3);
}
template<typename T>