From 00acab154baf0844bf6d30a2b159d4588f62325f Mon Sep 17 00:00:00 2001
From: Jorijn van der Graaf <jorijnvdgraaf@catcrafts.net>
Date: Fri, 20 Feb 2026 04:41:08 +0100
Subject: [PATCH] quanternion from euler

---
 interfaces/Crafter.Math-Vector.cppm | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/interfaces/Crafter.Math-Vector.cppm b/interfaces/Crafter.Math-Vector.cppm
index 9276734..8db62b2 100755
--- a/interfaces/Crafter.Math-Vector.cppm
+++ b/interfaces/Crafter.Math-Vector.cppm
@@ -381,6 +381,15 @@ namespace Crafter {
             return v + t * q.w + Vector<T, 3, Aligment>::Cross(qv, t);
 		}
 
+        template <typename AT, std::uint32_t AAlignment, typename BT, std::uint32_t BAlignment, typename PT, std::uint32_t PAlignment>
+        constexpr static Vector<T, 3, Aligment> RotatePivot(Vector<AT, 3, AAlignment> v, Vector<BT, 4, BAlignment> q, Vector<PT, 3, PAlignment> pivot) requires(Len == 3) {
+            Vector<T, 3, 0> translated = v - pivot;
+            Vector<T, 3, 0> qv(q.x, q.y, q.z);
+            Vector<T, 3, 0> t = Cross(qv, translated) * T(2);
+            Vector<T, 3, 0> rotated = translated + t * q.w +Cross(qv, t);
+            return rotated + pivot;
+        }
+
         template <typename AT, std::uint32_t AAlignment, typename BT, std::uint32_t BAlignment, typename CT, std::uint32_t CAlignment>
         constexpr static Vector<T, 4, Aligment> QuanternionFromBasis(Vector<AT, 3, AAlignment> right, Vector<BT, 3, BAlignment> up, Vector<CT, 3, CAlignment> forward) requires(Len == 4) {
             T m00 = right.x;
@@ -431,6 +440,22 @@ namespace Crafter {
             q.Normalize();
             return q;
 		}
+
+        constexpr static Vector<T, 4, Aligment> QuanternionFromEuler(T roll, T pitch, T yaw) {
+            T cr = std::cos(roll * 0.5);
+            T sr = std::sin(roll * 0.5);
+            T cp = std::cos(pitch * 0.5);
+            T sp = std::sin(pitch * 0.5);
+            T cy = std::cos(yaw * 0.5);
+            T sy = std::sin(yaw * 0.5);
+
+            return Vector<T, 4, Aligment>(
+                sr * cp * cy - cr * sp * sy, 
+                cr * sp * cy + sr * cp * sy, 
+                cr * cp * sy - sr * sp * cy,
+                cr * cp * cy + sr * sp * sy
+            );
+        }
 	};
 }