From 2bd93c5da8d5193b9d98630bb1c284991bd3da37 Mon Sep 17 00:00:00 2001
From: spog <spog@8a3a26a2-13c4-0310-b231-cf6edde360e5>
Date: Sun, 11 Jun 2006 12:45:44 +0000
Subject: [PATCH] fixed arbitrary rotation

git-svn-id: https://zerowing.idsoftware.com/svn/radiant/GtkRadiant/trunk@83 8a3a26a2-13c4-0310-b231-cf6edde360e5
---
 CHANGES                |  4 ++++
 libs/math/quaternion.h | 18 ++++++++++++++++++
 radiant/select.cpp     | 21 +++++++++++++++++----
 3 files changed, 39 insertions(+), 4 deletions(-)

diff --git a/CHANGES b/CHANGES
index 1a4295d8..86d43918 100644
--- a/CHANGES
+++ b/CHANGES
@@ -1,6 +1,10 @@
 This is the changelog for developers, != changelog for the end user 
 that we distribute with the binaries. (see changelog)
 
+11/06/2006
+SPoG
+- Fixed arbitrary rotation X and Y axes appearing to be transposed.
+
 04/06/2006
 SPoG
 - Fixed crash when deleting items from Build menu.
diff --git a/libs/math/quaternion.h b/libs/math/quaternion.h
index 7bd42cb1..d91ad62a 100644
--- a/libs/math/quaternion.h
+++ b/libs/math/quaternion.h
@@ -60,6 +60,24 @@ inline Quaternion quaternion_for_axisangle(const Vector3& axis, double angle)
   return Quaternion(axis[0] * sa, axis[1] * sa, axis[2] * sa, static_cast<float>(cos(angle)));
 }
 
+inline Quaternion quaternion_for_x(double angle)
+{
+  angle *= 0.5;
+  return Quaternion(static_cast<float>(sin(angle)), 0, 0, static_cast<float>(cos(angle)));
+}
+
+inline Quaternion quaternion_for_y(double angle)
+{
+  angle *= 0.5;
+  return Quaternion(0, static_cast<float>(sin(angle)), 0, static_cast<float>(cos(angle)));
+}
+
+inline Quaternion quaternion_for_z(double angle)
+{
+  angle *= 0.5;
+  return Quaternion(0, 0, static_cast<float>(sin(angle)), static_cast<float>(cos(angle)));
+}
+
 inline Quaternion quaternion_inverse(const Quaternion& quaternion)
 {
   return Quaternion(vector3_negated(vector4_to_vector3(quaternion)), quaternion[3]);
diff --git a/radiant/select.cpp b/radiant/select.cpp
index 9709c179..496d96a4 100644
--- a/radiant/select.cpp
+++ b/radiant/select.cpp
@@ -756,8 +756,20 @@ void Selection_destroy()
 #include <gtk/gtklabel.h>
 #include <gdk/gdkkeysyms.h>
 
+
 inline Quaternion quaternion_for_euler_xyz_degrees(const Vector3& eulerXYZ)
 {
+#if 0
+  return quaternion_for_matrix4_rotation(matrix4_rotation_for_euler_xyz_degrees(eulerXYZ));
+#elif 0
+  return quaternion_multiplied_by_quaternion(
+    quaternion_multiplied_by_quaternion(
+      quaternion_for_z(degrees_to_radians(eulerXYZ[2])),
+      quaternion_for_y(degrees_to_radians(eulerXYZ[1]))
+    ),
+    quaternion_for_x(degrees_to_radians(eulerXYZ[0]))
+  );
+#elif 1
   double cx = cos(degrees_to_radians(eulerXYZ[0] * 0.5));
   double sx = sin(degrees_to_radians(eulerXYZ[0] * 0.5));
   double cy = cos(degrees_to_radians(eulerXYZ[1] * 0.5));
@@ -766,11 +778,12 @@ inline Quaternion quaternion_for_euler_xyz_degrees(const Vector3& eulerXYZ)
   double sz = sin(degrees_to_radians(eulerXYZ[2] * 0.5));
 
   return Quaternion(
-    static_cast<float>(cx * sy * cz - sx * cy * sz),
-    static_cast<float>(cx * sy * sz + sx * cy * cz),
-    static_cast<float>(cx * cy * sz - sx * sy * cz),
-    static_cast<float>(cx * cy * cz + sx * sy * sz)
+    cz * cy * sx - sz * sy * cx,
+    cz * sy * cx + sz * cy * sx,
+    sz * cy * cx - cz * sy * sx,
+    cz * cy * cx + sz * sy * sx
   );
+#endif
 }
 
 struct RotateDialog
-- 
2.39.2