Made Mathutils use radians rather then degrees. defining USE_MATHUTILS_DEG for testing existing scripts.

Added conversion for BGE Quaternion WXYZ (Blender/C) -> XYZW (Moto C++).
BGE Python API now uses WXYZ following mathutils (break script warning).

1 files changed, 25 insertions, 1 deletions

diff --git a/source/gameengine/Ketsji/KX_PyMath.cpp b/source/gameengine/Ketsji/KX_PyMath.cpp
index ee9fed5d30a..76cfb0e572d 100644
--- a/source/gameengine/Ketsji/KX_PyMath.cpp
+++ b/source/gameengine/Ketsji/KX_PyMath.cpp
@@ -53,7 +53,7 @@ bool PyOrientationTo(PyObject* pyval, MT_Matrix3x3 &rot, const char *error_prefi
 	if (size == 4)
 	{
 		MT_Quaternion qrot;
-		if (PyVecTo(pyval, qrot))
+		if (PyQuatTo(pyval, qrot))
 		{
 			rot.setRotation(qrot);
 			return true;
@@ -79,6 +79,21 @@ bool PyOrientationTo(PyObject* pyval, MT_Matrix3x3 &rot, const char *error_prefi
 	return false;
 }
 
+bool PyQuatTo(PyObject* pyval, MT_Quaternion &qrot)
+{
+	if(!PyVecTo(pyval, qrot))
+		return false;
+
+	/* annoying!, Blender/Mathutils have the W axis first! */
+	MT_Scalar w= qrot[0]; /* from python, this is actually the W */
+	qrot[0]= qrot[1];
+	qrot[1]= qrot[2];
+	qrot[2]= qrot[3];
+	qrot[3]= w;
+
+	return true;
+}
+
 PyObject* PyObjectFrom(const MT_Matrix4x4 &mat)
 {
 #ifdef USE_MATHUTILS
@@ -126,6 +141,15 @@ PyObject* PyObjectFrom(const MT_Matrix3x3 &mat)
 #endif
 }
 
+#ifdef USE_MATHUTILS
+PyObject* PyObjectFrom(const MT_Quaternion &qrot)
+{
+	/* NOTE, were re-ordering here for Mathutils compat */
+	float fvec[4]= {qrot[3], qrot[0], qrot[1], qrot[2]};
+	return newQuaternionObject(fvec, Py_WRAP);
+}
+#endif
+
 PyObject* PyObjectFrom(const MT_Tuple4 &vec)
 {
 #ifdef USE_MATHUTILS