Merge pull request 'Transforms and rotations math' (#41) from Onek8/LNXSDK:main into main

Reviewed-on: LeenkxTeam/LNXSDK#41

leenkx/Sources/iron/math/Quat.hx

@@ -66,12 +66,32 @@ class Quat {
 	}
 
 	public inline function fromAxisAngle(axis: Vec4, angle: FastFloat): Quat {
-		var s: FastFloat = Math.sin(angle * 0.5);
-		x = axis.x * s;
-		y = axis.y * s;
-		z = axis.z * s;
-		w = Math.cos(angle * 0.5);
-		return normalize();
+		//var s: FastFloat = Math.sin(angle * 0.5);
+		//x = axis.x * s;
+		//y = axis.y * s;
+		//z = axis.z * s;
+		//w = Math.cos(angle * 0.5);
+		//return normalize();
+		// Normalize the axis vector first
+		var axisLen = Math.sqrt(axis.x * axis.x + axis.y * axis.y + axis.z * axis.z);
+		if (axisLen > 0.00001) {
+			var aL = 1.0 / axisLen;
+			var nX = axis.x * aL;
+			var nY = axis.y * aL;
+			var nZ = axis.z * aL;
+			var halfAngle = angle * 0.5;
+			var s: FastFloat = Math.sin(halfAngle);
+			x = nX * s;
+			y = nY * s;
+			z = nZ * s;
+			w = Math.cos(halfAngle);
+		} else {
+			x = 0.0;
+			y = 0.0;
+			z = 0.0;
+			w = 1.0;
+		}
+		return this;
 	}
 
 	public inline function toAxisAngle(axis: Vec4): FastFloat {
@@ -409,6 +429,12 @@ class Quat {
 		else
 			this.mult(qz);
 
+		// TO DO quick fix doesnt make sense.
+		this.x = -this.x;
+		this.y = -this.y;
+		this.z = -this.z;
+		this.w = -this.w;
+		
 		return this;
 	}
 

leenkx/Sources/leenkx/logicnode/TransformNode.hx

@@ -18,7 +18,7 @@ class TransformNode extends LogicNode {
 	override function get(from: Int): Dynamic {
 		var loc: Vec4 = inputs[0].get();
 		var rot: Quat = new Quat().setFrom(inputs[1].get());
-		rot.normalize();
+		//rot.normalize();
 		var scale: Vec4 = inputs[2].get();
 		if (loc == null && rot == null && scale == null) return this.value;
 		if (loc == null || rot == null || scale == null) return null;

leenkx/blender/lnx/logicnode/lnx_sockets.py

@@ -201,20 +201,11 @@ class LnxRotationSocket(LnxCustomSocket):
                 x *= pi/180
                 y *= pi/180
                 z *= pi/180
-            cx, sx = cos(x/2), sin(x/2)
-            cy, sy = cos(y/2), sin(y/2)
-            cz, sz = cos(z/2), sin(z/2)
-
-            qw, qx, qy, qz  = 1.0,0.0,0.0,0.0
-            for direction in param3[::-1]:
-                qwi, qxi,qyi,qzi = {'X': (cx,sx,0,0), 'Y': (cy,0,sy,0), 'Z': (cz,0,0,sz)}[direction]
-
-                qw = qw*qwi -qx*qxi -qy*qyi -qz*qzi
-                qx = qx*qwi +qw*qxi +qy*qzi -qz*qyi
-                qy = qy*qwi +qw*qyi +qz*qxi -qx*qzi
-                qz = qz*qwi +qw*qzi +qx*qyi -qy*qxi
-            return mathutils.Vector((qx,qy,qz,qw))
-
+                
+            euler = mathutils.Euler((x, y, z), param3)
+            quat = euler.to_quaternion()
+            return mathutils.Vector((quat.x, quat.y, quat.z, quat.w))
+            
 
     def do_update_raw(self, context):
         part1 = mathutils.Vector((