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Add method to rotate vector by quaternion

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This commit is contained in:
Kyle Rockman 2023-11-11 12:41:47 -06:00
parent a4ea6d49d9
commit 94a602d292
1 changed files with 11 additions and 0 deletions
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11
raylib/raymath.go
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@ -300,6 +300,17 @@ func Vector3Transform(v Vector3, mat Matrix) Vector3 {
return result
}
// Vector3RotateByQuaternion - Transform a vector by quaternion rotation
func Vector3RotateByQuaternion(v Vector3, q Quaternion) Vector3 {
var result Vector3
result.X = v.X*(q.X*q.X+q.W*q.W-q.Y*q.Y-q.Z*q.Z) + v.Y*(2*q.X*q.Y-2*q.W*q.Z) + v.Z*(2*q.X*q.Z+2*q.W*q.Y)
result.Y = v.X*(2*q.W*q.Z+2*q.X*q.Y) + v.Y*(q.W*q.W-q.X*q.X+q.Y*q.Y-q.Z*q.Z) + v.Z*(-2*q.W*q.X+2*q.Y*q.Z)
result.Z = v.X*(-2*q.W*q.Y+2*q.X*q.Z) + v.Y*(2*q.W*q.X+2*q.Y*q.Z) + v.Z*(q.W*q.W-q.X*q.X-q.Y*q.Y+q.Z*q.Z)
return result
}
// Vector3RotateByAxisAngle - Rotates a vector around an axis
func Vector3RotateByAxisAngle(v Vector3, axis Vector3, angle float32) Vector3 {
// Using Euler-Rodrigues Formula