Add Lua Helpers

DATA/SCRIPTS/HELPERS/convert.lua

@@ -0,0 +1,63 @@
+Convert = {}
+Convert["QuatToMatrix"] = function(quat)
+
+	local x = quat[1]
+	local y = quat[2]
+	local z = quat[3]
+	local w = quat[4]
+
+	local x2 = x + x
+	local y2 = y + y
+	local z2 = z + z
+
+	local xx = x * x2
+	local yx = y * x2
+	local yy = y * y2
+	local zx = z * x2
+	local zy = z * y2
+	local zz = z * z2
+	local wx = w * x2
+	local wy = w * y2
+	local wz = w * z2
+
+	local result = {
+		{ 1 - yy - zz, yx + wz, zx - wy },
+		{ yx - wz, 1 - xx - zz, zy + wx },
+		{ zx + wy, zy - wx, 1 - xx - yy }
+	}
+
+	return result
+end
+
+Convert["EulerToQuat"] = function (x, y, z)
+
+    local b = y * 0.5;
+    local c = x * 0.5;
+    local d = z * 0.5;
+    
+    local sp = sin(b)
+    local cp = cos(b)
+    local sy = sin(c)
+    local cy = cos(c)
+    local sr = sin(d) 
+    local cr = cos(d)
+    local a0 = sp * cy * cr
+    local b0 = cp * sy * sr
+    local a1 = cp * sy * cr
+    local b1 = sp * cy * sr
+    local a2 = cp * cy * sr
+    local b2 = sp * sy * cr
+    local a3 = cp * cy * cr
+    local b3 = sp * sy * sr
+     
+    local result = { Math.round(a0 + b0, 5), Math.round(a1 - b1, 5), Math.round(a2 + b2, 5), Math.round(a3 - b3, 5) }
+    return result
+end
+
+-- Should be called in place of orient like this: orient  =  Convert.EulerToMatrix(x, y, z),
+
+Convert["EulerToMatrix"] = function (x, y, z)
+	local q = Convert.EulerToQuat(y, x, z)
+	local m = Convert.QuatToMatrix(q)
+	return m
+end