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Common: update Quaternion to allow rotating pitch, yaw, and roll all at once
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2 changed files with 11 additions and 0 deletions
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@ -56,6 +56,13 @@ Quaternion Quaternion::RotateZ(float rad)
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return Rotate(rad, Vec3(0, 0, 1));
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}
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Quaternion Quaternion::RotateXYZ(const Vec3& rads)
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{
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const auto length = rads.Length();
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return length ? Common::Quaternion::Rotate(length, rads / length) :
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Common::Quaternion::Identity();
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}
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Quaternion Quaternion::Rotate(float rad, const Vec3& axis)
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{
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const auto sin_angle_2 = std::sin(rad / 2);
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