diff options
| -rw-r--r-- | API.md | 204 | ||||
| -rw-r--r-- | README.md | 5 | ||||
| -rw-r--r-- | devnotes | 3 | ||||
| -rw-r--r-- | include/lua_core.h | 1 | ||||
| -rw-r--r-- | include/rmath.h | 23 | ||||
| -rw-r--r-- | src/lua_core.c | 35 | ||||
| -rw-r--r-- | src/rmath.c | 500 |
7 files changed, 765 insertions, 6 deletions
@@ -4071,6 +4071,210 @@ Get camera look-at matrix ( View matrix ) --- +## Math - Quaternion + +--- + +> result = RL_QuaternionAdd( Quaternion q1, Quaternion q2 ) + +Add two quaternions + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionAddValue( Quaternion q, float add ) + +Add quaternion and float value + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionSubtract( Quaternion q1, Quaternion q2 ) + +Subtract two quaternions + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionSubtractValue( Quaternion q, float sub ) + +Subtract quaternion and float value + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionIdentity() + +Get identity quaternion + +- Success return Quaternion + +--- + +> result = RL_QuaternionLength( Quaternion q ) + +Computes the length of a quaternion + +- Failure return false +- Success return float + +--- + +> result = RL_QuaternionNormalize( Quaternion q ) + +Normalize provided quaternion + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionInvert( Quaternion q ) + +Invert provided quaternion + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionMultiply( Quaternion q1, Quaternion q2 ) + +Calculate two quaternion multiplication + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionScale( Quaternion q, float mul ) + +Scale quaternion by float value + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionDivide( Quaternion q1, Quaternion q2 ) + +Divide two quaternions + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionLerp( Quaternion q1, Quaternion q2, float amount ) + +Calculate linear interpolation between two quaternions + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionNlerp( Quaternion q1, Quaternion q2, float amount ) + +Calculate slerp-optimized interpolation between two quaternions + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionSlerp( Quaternion q1, Quaternion q2, float amount ) + +Calculates spherical linear interpolation between two quaternions + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionFromVector3ToVector3( Vector3 from, Vector3 to ) + +Calculate quaternion based on the rotation from one vector to another + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionFromMatrix( Matrix mat ) + +Get a quaternion for a given rotation matrix + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionToMatrix( Quaternion q ) + +Get a quaternion for a given rotation matrix + +- Failure return false +- Success return Matrix + +--- + +> result = RL_QuaternionFromAxisAngle( Vector3 axis, float angle ) + +Get rotation quaternion for an angle and axis +NOTE: angle must be provided in radians + +- Failure return false +- Success return Quaternion + +--- + +> axis, angle = RL_QuaternionToAxisAngle( Quaternion q ) + +Get the rotation angle and axis for a given quaternion + +- Failure return false +- Success return Vector3, float + +--- + +> result = RL_QuaternionFromEuler( float pitch, float yaw, float roll ) + +Get the quaternion equivalent to Euler angles +NOTE: Rotation order is ZYX + +- Failure return false +- Success return Quaternion + +--- + +> result = RL_QuaternionToEuler( Quaternion q ) + +Get the Euler angles equivalent to quaternion (roll, pitch, yaw) +NOTE: Angles are returned in a Vector3 struct in radians + +- Failure return false +- Success return Vector3 + +--- + +> result = RL_QuaternionTransform( Quaternion q, Matrix mat ) + +Transform a quaternion given a transformation matrix + +- Failure return false +- Success return Quaternion + +--- + ## Gui - Global --- @@ -29,10 +29,7 @@ List of some MISSING features that are planned to be included. For specific func Submodules. * Raygui ( Done ) -* Raymath - * Quaternions -* Physac - * Whole implementation +* Raymath ( Mostly done ) ## Usage @@ -12,8 +12,7 @@ Backlog { * Wave * Raymath - * Quaternions - * Physac + * Physac? * VR? } diff --git a/include/lua_core.h b/include/lua_core.h index 335ee49..2cd120e 100644 --- a/include/lua_core.h +++ b/include/lua_core.h @@ -23,6 +23,7 @@ void uluaPushVector2( lua_State *L, Vector2 vector ); void uluaPushVector3( lua_State *L, Vector3 vector ); void uluaPushVector4( lua_State *L, Vector4 vector ); void uluaPushRectangle( lua_State *L, Rectangle rect ); +void uluaPushQuaternion( lua_State *L, Quaternion quaternion ); void uluaPushMatrix( lua_State *L, Matrix matrix ); void uluaPushRay( lua_State *L, Ray ray ); void uluaPushRayCollision( lua_State *L, RayCollision rayCol ); diff --git a/include/rmath.h b/include/rmath.h index b43db8b..b3d7965 100644 --- a/include/rmath.h +++ b/include/rmath.h @@ -48,3 +48,26 @@ int lmathMatrixFrustum( lua_State *L ); int lmathMatrixPerspective( lua_State *L ); int lmathMatrixOrtho( lua_State *L ); int lmathMatrixLookAt( lua_State *L ); +/* Quaternion. */ +int lmathQuaternionAdd( lua_State *L ); +int lmathQuaternionAddValue( lua_State *L ); +int lmathQuaternionSubtract( lua_State *L ); +int lmathQuaternionSubtractValue( lua_State *L ); +int lmathQuaternionIdentity( lua_State *L ); +int lmathQuaternionLength( lua_State *L ); +int lmathQuaternionNormalize( lua_State *L ); +int lmathQuaternionInvert( lua_State *L ); +int lmathQuaternionMultiply( lua_State *L ); +int lmathQuaternionScale( lua_State *L ); +int lmathQuaternionDivide( lua_State *L ); +int lmathQuaternionLerp( lua_State *L ); +int lmathQuaternionNlerp( lua_State *L ); +int lmathQuaternionSlerp( lua_State *L ); +int lmathQuaternionFromVector3ToVector3( lua_State *L ); +int lmathQuaternionFromMatrix( lua_State *L ); +int lmathQuaternionToMatrix( lua_State *L ); +int lmathQuaternionFromAxisAngle( lua_State *L ); +int lmathQuaternionToAxisAngle( lua_State *L ); +int lmathQuaternionFromEuler( lua_State *L ); +int lmathQuaternionToEuler( lua_State *L ); +int lmathQuaternionTransform( lua_State *L ); diff --git a/src/lua_core.c b/src/lua_core.c index 60b07f9..cddad38 100644 --- a/src/lua_core.c +++ b/src/lua_core.c @@ -888,6 +888,29 @@ void luaRegister() { lua_register( L, "RL_MatrixPerspective", lmathMatrixPerspective ); lua_register( L, "RL_MatrixOrtho", lmathMatrixOrtho ); lua_register( L, "RL_MatrixLookAt", lmathMatrixLookAt ); + /* Quaternion. */ + lua_register( L, "RL_QuaternionAdd", lmathQuaternionAdd ); + lua_register( L, "RL_QuaternionAddValue", lmathQuaternionAddValue ); + lua_register( L, "RL_QuaternionSubtract", lmathQuaternionSubtract ); + lua_register( L, "RL_QuaternionSubtractValue", lmathQuaternionSubtractValue ); + lua_register( L, "RL_QuaternionIdentity", lmathQuaternionIdentity ); + lua_register( L, "RL_QuaternionLength", lmathQuaternionLength ); + lua_register( L, "RL_QuaternionNormalize", lmathQuaternionNormalize ); + lua_register( L, "RL_QuaternionInvert", lmathQuaternionInvert ); + lua_register( L, "RL_QuaternionMultiply", lmathQuaternionMultiply ); + lua_register( L, "RL_QuaternionScale", lmathQuaternionScale ); + lua_register( L, "RL_QuaternionDivide", lmathQuaternionDivide ); + lua_register( L, "RL_QuaternionLerp", lmathQuaternionLerp ); + lua_register( L, "RL_QuaternionNlerp", lmathQuaternionNlerp ); + lua_register( L, "RL_QuaternionSlerp", lmathQuaternionSlerp ); + lua_register( L, "RL_QuaternionFromVector3ToVector3", lmathQuaternionFromVector3ToVector3 ); + lua_register( L, "RL_QuaternionFromMatrix", lmathQuaternionFromMatrix ); + lua_register( L, "RL_QuaternionToMatrix", lmathQuaternionToMatrix ); + lua_register( L, "RL_QuaternionFromAxisAngle", lmathQuaternionFromAxisAngle ); + lua_register( L, "RL_QuaternionToAxisAngle", lmathQuaternionToAxisAngle ); + lua_register( L, "RL_QuaternionFromEuler", lmathQuaternionFromEuler ); + lua_register( L, "RL_QuaternionToEuler", lmathQuaternionToEuler ); + lua_register( L, "RL_QuaternionTransform", lmathQuaternionTransform ); /* Gui. */ /* Global. */ @@ -1346,6 +1369,18 @@ void uluaPushRectangle( lua_State *L, Rectangle rect ) { lua_rawseti( L, -2, 4 ); } +void uluaPushQuaternion( lua_State *L, Quaternion quaternion ) { + lua_createtable( L, 4, 0 ); + lua_pushnumber( L, quaternion.x ); + lua_rawseti( L, -2, 1 ); + lua_pushnumber( L, quaternion.y ); + lua_rawseti( L, -2, 2 ); + lua_pushnumber( L, quaternion.z ); + lua_rawseti( L, -2, 3 ); + lua_pushnumber( L, quaternion.w ); + lua_rawseti( L, -2, 4 ); +} + void uluaPushMatrix( lua_State *L, Matrix matrix ) { lua_createtable( L, 4, 0 ); diff --git a/src/rmath.c b/src/rmath.c index b003b65..a750089 100644 --- a/src/rmath.c +++ b/src/rmath.c @@ -976,3 +976,503 @@ int lmathMatrixLookAt( lua_State *L ) { return 1; } + +/* +## Math - Quaternion +*/ + +/* +> result = RL_QuaternionAdd( Quaternion q1, Quaternion q2 ) + +Add two quaternions + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionAdd( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionAdd( Quaternion q1, Quaternion q2 )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q2 = uluaGetQuaternion( L ); + lua_pop( L, 1 ); + Quaternion q1 = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionAdd( q1, q2 ) ); + + return 1; +} + +/* +> result = RL_QuaternionAddValue( Quaternion q, float add ) + +Add quaternion and float value + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionAddValue( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_isnumber( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionAddValue( Quaternion q, float add )" ); + lua_pushboolean( L, false ); + return 1; + } + float add = lua_tonumber( L, -1 ); + lua_pop( L, 1 ); + Quaternion q = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionAddValue( q, add ) ); + + return 1; +} + +/* +> result = RL_QuaternionSubtract( Quaternion q1, Quaternion q2 ) + +Subtract two quaternions + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionSubtract( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionSubtract( Quaternion q1, Quaternion q2 )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q2 = uluaGetQuaternion( L ); + lua_pop( L, 1 ); + Quaternion q1 = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionSubtract( q1, q2 ) ); + + return 1; +} + +/* +> result = RL_QuaternionSubtractValue( Quaternion q, float sub ) + +Subtract quaternion and float value + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionSubtractValue( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_isnumber( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionSubtractValue( Quaternion q, float sub )" ); + lua_pushboolean( L, false ); + return 1; + } + float sub = lua_tonumber( L, -1 ); + lua_pop( L, 1 ); + Quaternion q = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionSubtractValue( q, sub ) ); + + return 1; +} + +/* +> result = RL_QuaternionIdentity() + +Get identity quaternion + +- Success return Quaternion +*/ +int lmathQuaternionIdentity( lua_State *L ) { + uluaPushQuaternion( L, QuaternionIdentity() ); + + return 1; +} + +/* +> result = RL_QuaternionLength( Quaternion q ) + +Computes the length of a quaternion + +- Failure return false +- Success return float +*/ +int lmathQuaternionLength( lua_State *L ) { + if ( !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionLength( Quaternion q )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q = uluaGetQuaternion( L ); + + lua_pushnumber( L, QuaternionLength( q ) ); + + return 1; +} + +/* +> result = RL_QuaternionNormalize( Quaternion q ) + +Normalize provided quaternion + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionNormalize( lua_State *L ) { + if ( !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionNormalize( Quaternion q )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionNormalize( q ) ); + + return 1; +} + +/* +> result = RL_QuaternionInvert( Quaternion q ) + +Invert provided quaternion + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionInvert( lua_State *L ) { + if ( !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionInvert( Quaternion q )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionInvert( q ) ); + + return 1; +} + +/* +> result = RL_QuaternionMultiply( Quaternion q1, Quaternion q2 ) + +Calculate two quaternion multiplication + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionMultiply( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionMultiply( Quaternion q1, Quaternion q2 )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q2 = uluaGetQuaternion( L ); + lua_pop( L, 1 ); + Quaternion q1 = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionMultiply( q1, q2 ) ); + + return 1; +} + +/* +> result = RL_QuaternionScale( Quaternion q, float mul ) + +Scale quaternion by float value + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionScale( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_isnumber( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionScale( Quaternion q, float mul )" ); + lua_pushboolean( L, false ); + return 1; + } + float mul = lua_tonumber( L, -1 ); + lua_pop( L, 1 ); + Quaternion q = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionScale( q, mul ) ); + + return 1; +} + +/* +> result = RL_QuaternionDivide( Quaternion q1, Quaternion q2 ) + +Divide two quaternions + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionDivide( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionDivide( Quaternion q1, Quaternion q2 )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q2 = uluaGetQuaternion( L ); + lua_pop( L, 1 ); + Quaternion q1 = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionDivide( q1, q2 ) ); + + return 1; +} + +/* +> result = RL_QuaternionLerp( Quaternion q1, Quaternion q2, float amount ) + +Calculate linear interpolation between two quaternions + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionLerp( lua_State *L ) { + if ( !lua_istable( L, -3 ) || !lua_istable( L, -2 ) || !lua_isnumber( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionLerp( Quaternion q1, Quaternion q2, float amount )" ); + lua_pushboolean( L, false ); + return 1; + } + float amount = lua_tonumber( L, -1 ); + lua_pop( L, 1 ); + Quaternion q2 = uluaGetQuaternion( L ); + lua_pop( L, 1 ); + Quaternion q1 = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionLerp( q1, q2, amount ) ); + + return 1; +} + +/* +> result = RL_QuaternionNlerp( Quaternion q1, Quaternion q2, float amount ) + +Calculate slerp-optimized interpolation between two quaternions + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionNlerp( lua_State *L ) { + if ( !lua_istable( L, -3 ) || !lua_istable( L, -2 ) || !lua_isnumber( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionNlerp( Quaternion q1, Quaternion q2, float amount )" ); + lua_pushboolean( L, false ); + return 1; + } + float amount = lua_tonumber( L, -1 ); + lua_pop( L, 1 ); + Quaternion q2 = uluaGetQuaternion( L ); + lua_pop( L, 1 ); + Quaternion q1 = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionNlerp( q1, q2, amount ) ); + + return 1; +} + +/* +> result = RL_QuaternionSlerp( Quaternion q1, Quaternion q2, float amount ) + +Calculates spherical linear interpolation between two quaternions + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionSlerp( lua_State *L ) { + if ( !lua_istable( L, -3 ) || !lua_istable( L, -2 ) || !lua_isnumber( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionSlerp( Quaternion q1, Quaternion q2, float amount )" ); + lua_pushboolean( L, false ); + return 1; + } + float amount = lua_tonumber( L, -1 ); + lua_pop( L, 1 ); + Quaternion q2 = uluaGetQuaternion( L ); + lua_pop( L, 1 ); + Quaternion q1 = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionSlerp( q1, q2, amount ) ); + + return 1; +} + +/* +> result = RL_QuaternionFromVector3ToVector3( Vector3 from, Vector3 to ) + +Calculate quaternion based on the rotation from one vector to another + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionFromVector3ToVector3( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionFromVector3ToVector3( Vector3 from, Vector3 to )" ); + lua_pushboolean( L, false ); + return 1; + } + Vector3 to = uluaGetVector3( L ); + lua_pop( L, 1 ); + Vector3 from = uluaGetVector3( L ); + + uluaPushQuaternion( L, QuaternionFromVector3ToVector3( from, to ) ); + + return 1; +} + +/* +> result = RL_QuaternionFromMatrix( Matrix mat ) + +Get a quaternion for a given rotation matrix + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionFromMatrix( lua_State *L ) { + if ( !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionFromMatrix( Matrix mat )" ); + lua_pushboolean( L, false ); + return 1; + } + Matrix mat = uluaGetMatrix( L ); + + uluaPushQuaternion( L, QuaternionFromMatrix( mat ) ); + + return 1; +} + +/* +> result = RL_QuaternionToMatrix( Quaternion q ) + +Get a quaternion for a given rotation matrix + +- Failure return false +- Success return Matrix +*/ +int lmathQuaternionToMatrix( lua_State *L ) { + if ( !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionToMatrix( Quaternion q )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q = uluaGetQuaternion( L ); + + uluaPushMatrix( L, QuaternionToMatrix( q ) ); + + return 1; +} + +/* +> result = RL_QuaternionFromAxisAngle( Vector3 axis, float angle ) + +Get rotation quaternion for an angle and axis +NOTE: angle must be provided in radians + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionFromAxisAngle( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_isnumber( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionFromAxisAngle( Vector3 axis, float angle )" ); + lua_pushboolean( L, false ); + return 1; + } + float angle = lua_tonumber( L, -1 ); + lua_pop( L, 1 ); + Vector3 axis = uluaGetVector3( L ); + + uluaPushQuaternion( L, QuaternionFromAxisAngle( axis, angle ) ); + + return 1; +} + +/* +> axis, angle = RL_QuaternionToAxisAngle( Quaternion q ) + +Get the rotation angle and axis for a given quaternion + +- Failure return false +- Success return Vector3, float +*/ +int lmathQuaternionToAxisAngle( lua_State *L ) { + if ( !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionToAxisAngle( Quaternion q )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q = uluaGetQuaternion( L ); + float angle = 0.0; + Vector3 axis = { 0.0 }; + + QuaternionToAxisAngle( q, &axis, &angle ); + + uluaPushVector3( L, axis ); + lua_pushnumber( L, angle ); + + return 2; +} + +/* +> result = RL_QuaternionFromEuler( float pitch, float yaw, float roll ) + +Get the quaternion equivalent to Euler angles +NOTE: Rotation order is ZYX + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionFromEuler( lua_State *L ) { + if ( !lua_isnumber( L, -3 ) || !lua_isnumber( L, -2 ) || !lua_isnumber( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionFromEuler( float pitch, float yaw, float roll )" ); + lua_pushboolean( L, false ); + return 1; + } + float roll = lua_tonumber( L, -1 ); + float yaw = lua_tonumber( L, -2 ); + float pitch = lua_tonumber( L, -3 ); + + uluaPushQuaternion( L, QuaternionFromEuler( pitch, yaw, roll ) ); + + return 1; +} + +/* +> result = RL_QuaternionToEuler( Quaternion q ) + +Get the Euler angles equivalent to quaternion (roll, pitch, yaw) +NOTE: Angles are returned in a Vector3 struct in radians + +- Failure return false +- Success return Vector3 +*/ +int lmathQuaternionToEuler( lua_State *L ) { + if ( !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionToEuler( Quaternion q )" ); + lua_pushboolean( L, false ); + return 1; + } + Quaternion q = uluaGetQuaternion( L ); + + uluaPushVector3( L, QuaternionToEuler( q ) ); + + return 1; +} + +/* +> result = RL_QuaternionTransform( Quaternion q, Matrix mat ) + +Transform a quaternion given a transformation matrix + +- Failure return false +- Success return Quaternion +*/ +int lmathQuaternionTransform( lua_State *L ) { + if ( !lua_istable( L, -2 ) || !lua_istable( L, -1 ) ) { + TraceLog( LOG_WARNING, "%s", "Bad call of function. RL_QuaternionTransform( Quaternion q, Matrix mat )" ); + lua_pushboolean( L, false ); + return 1; + } + Matrix mat = uluaGetMatrix( L ); + lua_pop( L, 1 ); + Quaternion q = uluaGetQuaternion( L ); + + uluaPushQuaternion( L, QuaternionTransform( q, mat ) ); + + return 1; +} |