Hi all,
recently I have added a quaternion to euler to have a visual value of the quaternion but of course the value is not used in game.
Here the code I use :
void CQuaternion::ToEulerAngles( float* X, float* Y, float* Z ) const
{
const float SingularityTest = x*y + z*w;
if( SingularityTest > 0.4999995f )
{
*Y = 2.0f * CMath::ATan2( x, w );
*Z = CMath::HALF_PI;
*X = 0.0f;
}
else if( SingularityTest < -0.4999995f )
{
*Y = -2.0f * CMath::ATan2( x, w );
*Z = -CMath::HALF_PI;
*X = 0.0f;
}
else
{
const float zz = z * z;
*Y = CMath::ATan2( 2.0f * (y*w - x*z), 1.0f - 2.0f * (y*y + zz) );
*Z = CMath::ASin( 2.0f * SingularityTest );
*X = CMath::ATan2( 2.0f * (x*w - y*z), 1.0f - 2.0f * (x*x + zz) );
}
}The code is based on this article :
http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
Is it a correct way to do or a better way exists ?
Thanks for the help
