[Hgengine-cvs] SF.net SVN: hgengine:[590] Mercury2/src

[<cn...@us...>]

Revision: 590
          http://hgengine.svn.sourceforge.net/hgengine/?rev=590&view=rev
Author:   cnlohr
Date:     2009-10-27 04:48:57 +0000 (Tue, 27 Oct 2009)

Log Message:
-----------
add to euler (useful for saving) it hasn't actually been tested yet...

Modified Paths:
--------------
    Mercury2/src/MQuaternion.cpp
    Mercury2/src/MQuaternion.h

Modified: Mercury2/src/MQuaternion.cpp
===================================================================
--- Mercury2/src/MQuaternion.cpp	2009-10-27 03:18:28 UTC (rev 589)
+++ Mercury2/src/MQuaternion.cpp	2009-10-27 04:48:57 UTC (rev 590)
@@ -52,6 +52,14 @@
 	*this = this->normalize();
 }
 
+void MQuaternion::ToEuler(MercuryVertex&angles) const
+{
+	//According to http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles (Oct 26, 2009)
+	angles[0] = atan2( 2 * (m_wxyz[0]*m_wxyz[1] + m_wxyz[2]*m_wxyz[3]), 1 - 2 * (m_wxyz[1]*m_wxyz[1] + m_wxyz[2]*m_wxyz[2] ) );
+	angles[1] = asin( 2 * (m_wxyz[0] *m_wxyz[2] - m_wxyz[3]*m_wxyz[1] ) );
+	angles[2] = atan2( 2 * (m_wxyz[0]*m_wxyz[3] + m_wxyz[1]*m_wxyz[2]), 1 - 2 * (m_wxyz[2]*m_wxyz[2] + m_wxyz[3]*m_wxyz[3] ) );
+}
+
 MQuaternion MQuaternion::CreateFromAxisAngle(const MercuryVertex& p, const float radians)
 {
 	MQuaternion q;

Modified: Mercury2/src/MQuaternion.h
===================================================================
--- Mercury2/src/MQuaternion.h	2009-10-27 03:18:28 UTC (rev 589)
+++ Mercury2/src/MQuaternion.h	2009-10-27 04:48:57 UTC (rev 590)
@@ -23,6 +23,9 @@
 		static MQuaternion CreateFromAxisAngle(const MercuryVertex& p, const float radians);
 		void FromAxisAngle(const MercuryVertex& p, const float radians);
 		void ToAxisAngle(float& angle, float& x, float& y, float& z) const;
+
+		//Convert the quaternion back into euler angles (mathematically doesn't always work)
+		void ToEuler(MercuryVertex&angles) const;
 	
 		///Access a component of the quaternion with the [] operator
 		inline float & operator[] ( const WXYZ i ) { return m_wxyz[i]; }


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