From 646ca67e7edb9d964dc2797d76093ac4d7b8f75c Mon Sep 17 00:00:00 2001
From: kovacsv <viktorkovacs@gmail.com>
Date: Sat, 15 Jan 2022 12:11:52 +0100
Subject: [PATCH] Create quaternion from x, y, z rotation values.

---
 source/engine/geometry/quaternion.js | 55 ++++++++++++++++++++++++++++
 source/engine/main.js                |  4 +-
 test/tests/geometry_test.js          | 13 ++++++-
 3 files changed, 70 insertions(+), 2 deletions(-)

diff --git a/source/engine/geometry/quaternion.js b/source/engine/geometry/quaternion.js
index fbc7d9a..d94f9ad 100644
--- a/source/engine/geometry/quaternion.js
+++ b/source/engine/geometry/quaternion.js
@@ -1,3 +1,5 @@
+import { IsEqual } from './geometry.js';
+
 export class Quaternion
 {
 	constructor (x, y, z, w)
@@ -9,6 +11,11 @@ export class Quaternion
 	}
 }
 
+export function QuaternionIsEqual (a, b)
+{
+	return IsEqual (a.x, b.x) && IsEqual (a.y, b.y) && IsEqual (a.z, b.z) && IsEqual (a.w, b.w);
+}
+
 export function ArrayToQuaternion (arr)
 {
 	return new Quaternion (arr[0], arr[1], arr[2], arr[3]);
@@ -26,3 +33,51 @@ export function QuaternionFromAxisAngle (axis, angle)
 		Math.cos (a)
 	);
 }
+
+export function QuaternionFromXYZ (x, y, z, mode) {
+
+	const c1 = Math.cos (x / 2.0);
+	const c2 = Math.cos (y / 2.0);
+	const c3 = Math.cos (z / 2.0);
+
+	const s1 = Math.sin (x / 2.0);
+	const s2 = Math.sin (y / 2.0);
+	const s3 = Math.sin (z / 2.0);
+
+	let quaternion = new Quaternion (0.0, 0.0, 0.0, 1.0);
+	if (mode === 'XYZ') {
+		quaternion.x = s1 * c2 * c3 + c1 * s2 * s3;
+		quaternion.y = c1 * s2 * c3 - s1 * c2 * s3;
+		quaternion.z = c1 * c2 * s3 + s1 * s2 * c3;
+		quaternion.w = c1 * c2 * c3 - s1 * s2 * s3;
+	} else if (mode === 'YXZ') {
+		quaternion.x = s1 * c2 * c3 + c1 * s2 * s3;
+		quaternion.y = c1 * s2 * c3 - s1 * c2 * s3;
+		quaternion.z = c1 * c2 * s3 - s1 * s2 * c3;
+		quaternion.w = c1 * c2 * c3 + s1 * s2 * s3;
+	} else if (mode === 'ZXY') {
+		quaternion.x = s1 * c2 * c3 - c1 * s2 * s3;
+		quaternion.y = c1 * s2 * c3 + s1 * c2 * s3;
+		quaternion.z = c1 * c2 * s3 + s1 * s2 * c3;
+		quaternion.w = c1 * c2 * c3 - s1 * s2 * s3;
+	} else if (mode === 'ZYX') {
+		quaternion.x = s1 * c2 * c3 - c1 * s2 * s3;
+		quaternion.y = c1 * s2 * c3 + s1 * c2 * s3;
+		quaternion.z = c1 * c2 * s3 - s1 * s2 * c3;
+		quaternion.w = c1 * c2 * c3 + s1 * s2 * s3;
+	} else if (mode === 'YZX') {
+		quaternion.x = s1 * c2 * c3 + c1 * s2 * s3;
+		quaternion.y = c1 * s2 * c3 + s1 * c2 * s3;
+		quaternion.z = c1 * c2 * s3 - s1 * s2 * c3;
+		quaternion.w = c1 * c2 * c3 - s1 * s2 * s3;
+	} else if (mode === 'XZY') {
+		quaternion.x = s1 * c2 * c3 - c1 * s2 * s3;
+		quaternion.y = c1 * s2 * c3 - s1 * c2 * s3;
+		quaternion.z = c1 * c2 * s3 + s1 * s2 * c3;
+		quaternion.w = c1 * c2 * c3 + s1 * s2 * s3;
+	} else {
+		return null;
+	}
+
+	return quaternion;
+}
diff --git a/source/engine/main.js b/source/engine/main.js
index ac929e6..3590fd0 100644
--- a/source/engine/main.js
+++ b/source/engine/main.js
@@ -16,7 +16,7 @@ import { Coord4D } from './geometry/coord4d.js';
 import { IsZero, IsLower, IsGreater, IsLowerOrEqual, IsGreaterOrEqual, IsEqual, IsEqualEps, IsPositive, IsNegative, Eps, BigEps, RadDeg, DegRad, Direction } from './geometry/geometry.js';
 import { Matrix, MatrixIsEqual } from './geometry/matrix.js';
 import { OctreeNode, Octree } from './geometry/octree.js';
-import { Quaternion, ArrayToQuaternion, QuaternionFromAxisAngle } from './geometry/quaternion.js';
+import { Quaternion, QuaternionIsEqual, ArrayToQuaternion, QuaternionFromAxisAngle, QuaternionFromXYZ } from './geometry/quaternion.js';
 import { Transformation, TransformationIsEqual } from './geometry/transformation.js';
 import { BezierTweenFunction, LinearTweenFunction, ParabolicTweenFunction, TweenCoord3D } from './geometry/tween.js';
 import { File, FileList } from './import/filelist.js';
@@ -124,8 +124,10 @@ export {
     OctreeNode,
     Octree,
     Quaternion,
+    QuaternionIsEqual,
     ArrayToQuaternion,
     QuaternionFromAxisAngle,
+    QuaternionFromXYZ,
     Transformation,
     TransformationIsEqual,
     BezierTweenFunction,
diff --git a/test/tests/geometry_test.js b/test/tests/geometry_test.js
index 381fedd..b6bc182 100644
--- a/test/tests/geometry_test.js
+++ b/test/tests/geometry_test.js
@@ -40,7 +40,6 @@ describe ('Comparison', function () {
     });
 });
 
-
 describe ('Coord', function () {
     it ('Length', function () {
         var c = new OV.Coord3D (2.0, 0.0, 0.0);
@@ -64,6 +63,18 @@ describe ('Coord', function () {
     });
 });
 
+describe ('Quaternion', function () {
+    it ('Create Quaternion', function () {
+        let q1 = OV.QuaternionFromAxisAngle (new OV.Coord3D (1.0, 0.0, 0.0), Math.PI / 2.0);
+        let q2 = OV.QuaternionFromXYZ (Math.PI / 2.0, 0.0, 0.0, 'XYZ');
+        assert.ok (OV.QuaternionIsEqual (q1, q2));
+        assert.ok (OV.IsEqual (q1.x, 0.7071067811865475));
+        assert.ok (OV.IsEqual (q1.y, 0.0));
+        assert.ok (OV.IsEqual (q1.z, 0.0));
+        assert.ok (OV.IsEqual (q1.w, 0.7071067811865475));
+    });
+});
+
 describe ('Triangle', function() {
     it ('Calculate Normal', function () {
         var normal = OV.CalculateTriangleNormal (