public Quaternion ToQuaternion()
{
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
// [X=Yaw, Y=Pitch, Z=Roll] to Quaternion
float yaw = RyneMath.DegreesToRadians(X) * 0.5f;
float pitch = RyneMath.DegreesToRadians(Y) * 0.5f;
float roll = RyneMath.DegreesToRadians(Z) * 0.5f;
float cy = RyneMath.Cos(yaw);
float sy = RyneMath.Sin(yaw);
float cp = RyneMath.Cos(pitch);
float sp = RyneMath.Sin(pitch);
float cr = RyneMath.Cos(roll);
float sr = RyneMath.Sin(roll);
Quaternion result = new Quaternion
{
W = cy * cp * cr + sy * sp * sr,
X = cy * cp * sr - sy * sp * cr,
Y = sy * cp * sr + cy * sp * cr,
Z = sy * cp * cr - cy * sp * sr
};
return(result);
}
public Quaternion(Float3 axis, float angle, bool degrees = true)
{
//qx = ax * sin(angle/2)
//qy = ay * sin(angle/2)
//qz = az * sin(angle/2)
//qw = cos(angle/2)
if (degrees)
{
angle = RyneMath.DegreesToRadians(angle);
}
float halfAngle = angle * 0.5f;
Float4 data = new Float4(axis * RyneMath.Sin(halfAngle), RyneMath.Cos(halfAngle)).Normalize();
SetData(out this, data);
}
