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Implement Quaternions #2311

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merged 2 commits into from
Aug 27, 2023
Merged

Implement Quaternions #2311

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96360a6
Implement Quaternions
scooterboo Aug 27, 2023
53db8f3
Update BaseRoute.java
KingRainbow44 Aug 27, 2023
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20 changes: 19 additions & 1 deletion src/main/java/emu/grasscutter/game/entity/gadget/platform/BaseRoute.java
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,25 @@ public boolean stopRoute(Scene scene) {
private MathQuaternion.Builder rotAsMathQuaternion() {
val result = MathQuaternion.newBuilder();
if (startRot != null) {
result.setX(startRot.getX()).setY(startRot.getY()).setZ(startRot.getZ());
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
// "MY BRAIN!" - Nazrin
val roll = Math.toRadians(startRot.getX());
val pitch = Math.toRadians(startRot.getY());
val yaw = Math.toRadians(startRot.getZ());

val cr = (float)Math.cos(roll * 0.5);
val sr = (float)Math.sin(roll * 0.5);
val cp = (float)Math.cos(pitch * 0.5);
val sp = (float)Math.sin(pitch * 0.5);
val cy = (float)Math.cos(yaw * 0.5);
val sy = (float)Math.sin(yaw * 0.5);

result.setW(cr * cp * cy + sr * sp * sy);
result.setX(sr * cp * cy - cr * sp * sy);
result.setY(cr * sp * cy + sr * cp * sy);
result.setZ(cr * cp * sy - sr * sp * cy);
} else {
result.setW(1f);
}
return result;
}
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