Changeset 336 in flair-src for trunk/lib/FlairCore/src/Quaternion.cpp

Timestamp:

10/08/19 16:41:35 (5 years ago)

Author:

Sanahuja Guillaume

Message:

use float

File:

• trunk/lib/FlairCore/src/Quaternion.cpp (modified) (2 diffs)

trunk/lib/FlairCore/src/Quaternion.cpp

@@ -39 +39 @@
 
 float Quaternion::GetNorm(void) const {
-  return sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+  return sqrtf(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
 }
 
@@ -94 +94 @@
 }
 
+float Quaternion::GetEulerRoll(void) const {
+    return atan2f(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2));
+}
+  
+
+float Quaternion::GetEulerPitch(void) const {
+    return asinf(2 * (q0 * q2 - q1 * q3));
+}
+  
+
+float Quaternion::GetEulerYaw(void) const {
+    return atan2f(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3));
+}
+  
 void Quaternion::ToEuler(Euler &euler) const {
-  euler.roll = atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2));
-  euler.pitch = asin(2 * (q0 * q2 - q1 * q3));
-  euler.yaw = atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3));
+  euler.roll = GetEulerRoll();
+  euler.pitch = GetEulerPitch();
+  euler.yaw = GetEulerYaw();
 }