jOan,
Attached is a function i wrote to do this. It may work for you.
No guarantees.
Martins
On Thu, 24 Aug 2006, jOan wrote:
> Hello,
>
> Is it possible to get the rotation on each axe (x,y,z) from a osg::Quat ?
>
>
osg::Vec3d getHPRfromQuat(osg::Quat quat){
// From: http://guardian.curtin.edu.au/cga/faq/angles.html
// Except OSG exchanges pitch & roll from what is listed on that page
double qx = quat.x();
double qy = quat.y();
double qz = quat.z();
double qw = quat.w();
double sqx = qx * qx;
double sqy = qy * qy;
double sqz = qz * qz;
double sqw = qw * qw;
double term1 = 2*(qx*qy+qw*qz);
double term2 = sqw+sqx-sqy-sqz;
double term3 = -2*(qx*qz-qw*qy);
double term4 = 2*(qw*qx+qy*qz);
double term5 = sqw - sqx - sqy + sqz;
double heading = atan2(term1, term2);
double pitch = atan2(term4, term5);
double roll = asin(term3);
return osg::Vec3d( heading, pitch, roll );
}
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