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[...] which is ridiculously easy if u know a little about complex numbers, and possibly even if you don't.

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really? damn, i didn't get them when i looked into them a while ago. maybe i should (re)learn complex numbers first.

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Actually I don't know how quaternion inner systems work but I'm still using them in my engine . Just looked into some examples and tutorials/stuff and coded my own quaternion class.

void ent_getrbmatrix1(ENTITY *entity, D3DXMATRIX *mout)
{
	// ignores entity scale -> not needed for rigid bodies -> collision shape size gets defined by bounding box
	
	D3DXMATRIX mpan;
	D3DXMatrixRotationZ(&mpan, entity->pan * DEG2RAD);
	
	D3DXMATRIX mtilt;
	D3DXMatrixRotationY(&mtilt, -entity->tilt * DEG2RAD); // -tilt?
	
	D3DXMATRIX mroll;
	D3DXMatrixRotationX(&mroll, entity->roll * DEG2RAD);
	
	D3DXMATRIX mtranslation;
	D3DXMatrixTranslation(&mtranslation,
	entity->x * QUANTTOMETER,
	entity->y * QUANTTOMETER,
	entity->z * QUANTTOMETER);
	
	D3DXMATRIX mtemp1; D3DXMatrixMultiply(&mtemp1, &mroll, &mtilt);
	D3DXMATRIX mtemp2; D3DXMatrixMultiply(&mtemp2, &mtemp1, &mpan);
	D3DXMatrixMultiply(mout, &mtemp2, &mtranslation);
	
	//printmatrix("g1", mout);
}



void ent_getrbmatrix2(ENTITY *entity, float *mout) // does the same as ent_getrbmatrix1 but in a different way
{
	VECTOR xaxis; vec_set(&xaxis, vector(1, 0, 0));
	VECTOR yaxis; vec_set(&yaxis, vector(0, 1, 0));
	VECTOR zaxis; vec_set(&zaxis, vector(0, 0, 1));
	
	// ignores entity scale -> not needed for rigid bodies -> collision shape size gets defined by bounding box
	
	vec_rotate(&xaxis, &entity->pan);
	vec_rotate(&yaxis, &entity->pan);
	vec_rotate(&zaxis, &entity->pan);
	
	mout[0] = xaxis.x; mout[1] = xaxis.y; mout[2]  = xaxis.z; mout[3]  = 0;
	mout[4] = yaxis.x; mout[5] = yaxis.y; mout[6]  = yaxis.z; mout[7]  = 0; 
	mout[8] = zaxis.x; mout[9] = zaxis.y; mout[10] = zaxis.z; mout[11] = 0; 
	mout[12] = entity->x * QUANTTOMETER;
	mout[13] = entity->y * QUANTTOMETER;
	mout[14] = entity->z * QUANTTOMETER;
	mout[15] = 1;
	
	//printmatrix("g2", mout);
}



void ent_setrbmatrix(ENTITY *entity, float *m)
{
	D3DXVECTOR3 s;
	D3DXQUATERNION q;
	D3DXVECTOR3	t;
	
	D3DXMatrixDecompose(&s, &q, &t, (D3DXMATRIX*)m);
	
	//todo: check for gimbal lock?
	entity->pan = RAD2DEG * atan2f(2 * (q.w*q.z + q.x*q.y), (1-2 * (q.y*q.y + q.z*q.z)));
	entity->tilt = RAD2DEG * -asinf((2 * (q.w*q.y - q.x*q.z)));
	entity->roll = RAD2DEG * atan2f(2 * (q.w*q.x + q.y*q.z), (1-2 * (q.x*q.x + q.y*q.y)));
	
	entity->x = t.x * METERTOQUANT;
	entity->y = t.y * METERTOQUANT;
	entity->z = t.z * METERTOQUANT;
}

	float st = -2 * (q.w*q.y - q.x*q.z);
	
	if(fabs(st) > 0.9999)
	{
		draw_text("gimbal lock!", 10, 10, vector(255,255,255));
		
		// but i have no clue what belongs here

	}
	else
	{
		entity->pan = RAD2DEG * atan2f(2 * (q.w*q.z + q.x*q.y), (1 - 2 * (q.y*q.y + q.z*q.z)));
		entity->tilt = RAD2DEG * asinf(st);
		entity->roll = RAD2DEG * atan2f(2 * (q.w*q.x + q.y*q.z), (1 - 2 * (q.x*q.x + q.y*q.y)));
	}

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it seems to work though!

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