public void ApplyEuler(Euler euler)
{
var quaternion = Quaternion.From(euler);
Apply(quaternion);
}
public static Quaternion From(Euler euler)
{
// http://www.mathworks.com/matlabcentral/fileexchange/
// 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
// content/SpinCalc.m
float x, y, z, w;
var c1 = Mathf.Cos(euler.x / 2);
var c2 = Mathf.Cos(euler.y / 2);
var c3 = Mathf.Cos(euler.z / 2);
var s1 = Mathf.Sin(euler.x / 2);
var s2 = Mathf.Sin(euler.y / 2);
var s3 = Mathf.Sin(euler.z / 2);
if (euler.order == Euler.OrderMode.XYZ)
{
x = s1 * c2 * c3 + c1 * s2 * s3;
y = c1 * s2 * c3 - s1 * c2 * s3;
z = c1 * c2 * s3 + s1 * s2 * c3;
w = c1 * c2 * c3 - s1 * s2 * s3;
}
else if (euler.order == Euler.OrderMode.YXZ)
{
x = s1 * c2 * c3 + c1 * s2 * s3;
y = c1 * s2 * c3 - s1 * c2 * s3;
z = c1 * c2 * s3 - s1 * s2 * c3;
w = c1 * c2 * c3 + s1 * s2 * s3;
}
else if (euler.order == Euler.OrderMode.ZXY)
{
x = s1 * c2 * c3 - c1 * s2 * s3;
y = c1 * s2 * c3 + s1 * c2 * s3;
z = c1 * c2 * s3 + s1 * s2 * c3;
w = c1 * c2 * c3 - s1 * s2 * s3;
}
else if (euler.order == Euler.OrderMode.ZYX)
{
x = s1 * c2 * c3 - c1 * s2 * s3;
y = c1 * s2 * c3 + s1 * c2 * s3;
z = c1 * c2 * s3 - s1 * s2 * c3;
w = c1 * c2 * c3 + s1 * s2 * s3;
}
else if (euler.order == Euler.OrderMode.YZX)
{
x = s1 * c2 * c3 + c1 * s2 * s3;
y = c1 * s2 * c3 + s1 * c2 * s3;
z = c1 * c2 * s3 - s1 * s2 * c3;
w = c1 * c2 * c3 - s1 * s2 * s3;
}
else if (euler.order == Euler.OrderMode.XZY)
{
x = s1 * c2 * c3 - c1 * s2 * s3;
y = c1 * s2 * c3 - s1 * c2 * s3;
z = c1 * c2 * s3 + s1 * s2 * c3;
w = c1 * c2 * c3 + s1 * s2 * s3;
}
else
{
throw new InvalidOperationException();
}
//if (!update) this.onChangeCallback();
return(new Quaternion(x, y, z, w));
}
public static Matrix4 MakeRotationFromEuler(Euler euler)
{
var res = Matrix4.Identity;
var te = res.elements;
float x = euler.x, y = euler.y, z = euler.z;
float a = Mathf.Cos(x), b = Mathf.Sin(x);
float c = Mathf.Cos(y), d = Mathf.Sin(y);
float e = Mathf.Cos(z), f = Mathf.Sin(z);
if (euler.order == Euler.OrderMode.XYZ)
{
float ae = a * e, af = a * f, be = b * e, bf = b * f;
te[0] = c * e;
te[4] = -c * f;
te[8] = d;
te[1] = af + be * d;
te[5] = ae - bf * d;
te[9] = -b * c;
te[2] = bf - ae * d;
te[6] = be + af * d;
te[10] = a * c;
}
else if (euler.order == Euler.OrderMode.YXZ)
{
float ce = c * e, cf = c * f, de = d * e, df = d * f;
te[0] = ce + df * b;
te[4] = de * b - cf;
te[8] = a * d;
te[1] = a * f;
te[5] = a * e;
te[9] = -b;
te[2] = cf * b - de;
te[6] = df + ce * b;
te[10] = a * c;
}
else if (euler.order == Euler.OrderMode.ZXY)
{
float ce = c * e, cf = c * f, de = d * e, df = d * f;
te[0] = ce - df * b;
te[4] = -a * f;
te[8] = de + cf * b;
te[1] = cf + de * b;
te[5] = a * e;
te[9] = df - ce * b;
te[2] = -a * d;
te[6] = b;
te[10] = a * c;
}
else if (euler.order == Euler.OrderMode.ZYX)
{
float ae = a * e, af = a * f, be = b * e, bf = b * f;
te[0] = c * e;
te[4] = be * d - af;
te[8] = ae * d + bf;
te[1] = c * f;
te[5] = bf * d + ae;
te[9] = af * d - be;
te[2] = -d;
te[6] = b * c;
te[10] = a * c;
}
else if (euler.order == Euler.OrderMode.YZX)
{
float ac = a * c, ad = a * d, bc = b * c, bd = b * d;
te[0] = c * e;
te[4] = bd - ac * f;
te[8] = bc * f + ad;
te[1] = f;
te[5] = a * e;
te[9] = -b * e;
te[2] = -d * e;
te[6] = ad * f + bc;
te[10] = ac - bd * f;
}
else if (euler.order == Euler.OrderMode.XZY)
{
float ac = a * c, ad = a * d, bc = b * c, bd = b * d;
te[0] = c * e;
te[4] = -f;
te[8] = d * e;
te[1] = ac * f + bd;
te[5] = a * e;
te[9] = ad * f - bc;
te[2] = bc * f - ad;
te[6] = b * e;
te[10] = bd * f + ac;
}
// last column
te[3] = 0;
te[7] = 0;
te[11] = 0;
// bottom row
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return(res);
}
