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Quaternion: Euler angles math fix and documentation #19

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Quaternion: Euler angles math fix and documentation #19

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a237e77
Quaternion: euler angles fixed
dmartinp Dec 20, 2019
2bc338d
Quaternion: add Euler angle methods to help file
dmartinp Dec 20, 2019
8c6747c
Quaternion: naming convention updates
dmartinp Jan 22, 2020
717caab
Quaternion: schelp fixes
dmartinp Jan 22, 2020
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10 changes: 10 additions & 0 deletions HelpSource/Classes/Quaternion.schelp
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Expand Up @@ -73,6 +73,16 @@ METHOD:: distance
Return the distance between two quaternions.


METHOD:: rotate
Return the rotation (yaw) Euler angle in radians. Returns values between -pi and pi (-180 and 180 degrees).


METHOD:: tilt
Return the tilt (roll) Euler angle in radians. Returns values between -pi and pi (-180 and 180 degrees).


METHOD:: tumble
Return the tumble (pitch) Euler angle in radians. Returns values between -0.5pi and 0.5pi (-90 and 90 degrees).


EXAMPLES::
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6 changes: 3 additions & 3 deletions classes/various/Quaternion.sc
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Expand Up @@ -113,17 +113,17 @@ Quaternion {

// roll
tilt {
^atan2((2 * (a * b - (c * d))), (1 - (2*(b.squared + c.squared))))
^atan2((2 * (a * b + (c * d))), (1 - (2 * (b.squared + c.squared))))
}

// pitch
tumble {
^asin((2 * (a * c + (b * d))).clip(-1.0, 1.0));
^asin((2 * (a * c - (b * d))).clip(-1.0, 1.0));
}

// yaw
rotate {
^atan2((2 * (a * d - (c * b))), (1 - (2*(d.squared + c.squared))))
^atan2((2 * (a * d + (c * b))), (1 - (2 * (d.squared + c.squared))))
}
}

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