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Added a ToEulerAngle function

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Quinn
2025-04-09 18:41:45 -04:00
parent 4b802458ef
commit dee19b54ad
2 changed files with 27 additions and 1 deletions
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18
src/Quaternion.cpp
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@@ -101,4 +101,20 @@ Matrix<3, 3> Quaternion::ToRotationMatrix() const
2 * (this->v1 * this->v2 + this->v3 * this->w), 1 - 2 * (xx - zz), 2 * (this->v2 * this->v3 - this->v1 * this->w),
2 * (this->v1 * this->v3 - this->v2 * this->w), 2 * (this->v2 * this->v3 + this->v1 * this->w), 1 - 2 * (xx - yy)};
return rotationMatrix;
};
};
Matrix<3, 1> Quaternion::ToEulerAngle() const
{
float sqv1 = this->v1 * this->v1;
float sqv2 = this->v2 * this->v2;
float sqv3 = this->v3 * this->v3;
float sqw = this->w * this->w;
Matrix<3, 1> eulerAngle;
{
atan2(2.0 * (this->v1 * this->v2 + this->v3 * this->w), (sqv1 - sqv2 - sqv3 + sqw));
asin(-2.0 * (this->v1 * this->v3 - this->v2 * this->w) / (sqv1 + sqv2 + sqv3 + sqw));
atan2(2.0 * (this->v2 * this->v3 + this->v1 * this->w), (-sqv1 - sqv2 + sqv3 + sqw));
};
return eulerAngle;
}