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Document & extend testing for rotation conventions (#16200)

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* Document Luanti rotation conventions
* Add test for setPitchYawRollRad (entity) rotation conventions
* Test and document that `vector.rotate` uses (extrinsic) Z-X-Y rotation order
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Lars Müller 2025-07-13 17:11:12 +02:00 • committed by GitHub
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7 changed files with 123 additions and 38 deletions
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irr/include/matrix4.h
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@ -167,8 +167,9 @@ public:
vector3d<T> getTranslation() const;
//! Make a rotation matrix from Euler angles. The 4th row and column are unmodified.
//! NOTE: Rotation order is ZYX. This means that vectors are
//! first rotated around the X, then the Y, and finally the Z axis.
//! NOTE: Rotation order is (extrinsic) X-Y-Z.
//! This means that vectors are first rotated around the X,
//! then the (unrotated) Y, and finally the (unrotated) Z axis.
//! NOTE: The rotation is done as per the right-hand rule.
//! See test_irr_matrix4.cpp if you're still unsure about the conventions used here.
inline CMatrix4<T> &setRotationRadians(const vector3d<T> &rotation);