void quaternion_from_euler(vector4d *q, double rx, double ry, double rz) {
vector3d vx = {1, 0, 0}, vy = {0, 1, 0}, vz = {0, 0, 1};
vector4d qx, qy, qz, qt;
quaternion_from_axisangle(&qx, &vx, rx);
quaternion_from_axisangle(&qy, &vy, ry);
quaternion_from_axisangle(&qz, &vz, rz);
quaternion_multiply(&qt, &qx, &qy);
quaternion_multiply(q, &qt, &qz);
}
quat Camera::getCameraRotation() {
vec3 vx = vec3(1.f, 0, 0);
vec3 vy = vec3(0, 1.f, 0);
vec3 vz = vec3(0, 0, 1.f);
quat q, qx, qy, qz, qterm;
quaternion_from_axisangle(qx, vx, pitch_ );
quaternion_from_axisangle(qy, vy, heading_ );
quaternion_from_axisangle(qz, vz, roll_ );
q = qx * qy * qz;
return q;
}
