From f566459afbbfc74117c51a99880bdc5e7340c7a6 Mon Sep 17 00:00:00 2001
From: mincomk <mail@drchi.co.kr>
Date: Thu, 12 Jun 2025 16:18:53 +0900
Subject: [PATCH] feat: Quaternion#fromEulerXYZ

---
 package.json      |  2 +-
 src/quaternion.ts | 25 +++++++++++++++++++++++--
 2 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/package.json b/package.json
index 84372ea..95b00d1 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "computercraft-mutil",
-  "version": "1.0.10",
+  "version": "1.0.11",
   "description": "",
   "license": "ISC",
   "author": "",
diff --git a/src/quaternion.ts b/src/quaternion.ts
index bd71c1c..eb2638e 100644
--- a/src/quaternion.ts
+++ b/src/quaternion.ts
@@ -8,9 +8,9 @@ export class Quaternion {
     public y: number,
     public z: number,
     public w: number,
-  ) { }
+  ) {}
 
-  static fromXYZ({
+  public static fromXYZ({
     x,
     y,
     z,
@@ -24,6 +24,27 @@ export class Quaternion {
     return new Quaternion(x, y, z, w);
   }
 
+  public static fromEulerXYZ(
+    roll: number,
+    pitch: number,
+    yaw: number,
+  ): Quaternion {
+    const cx = math.cos(roll * 0.5);
+    const sx = math.sin(roll * 0.5);
+    const cy = math.cos(pitch * 0.5);
+    const sy = math.sin(pitch * 0.5);
+    const cz = math.cos(yaw * 0.5);
+    const sz = math.sin(yaw * 0.5);
+
+    // Quaternion multiplication order: q = qx * qy * qz (X → Y → Z)
+    const w = cx * cy * cz + sx * sy * sz;
+    const x = sx * cy * cz - cx * sy * sz;
+    const y = cx * sy * cz + sx * cy * sz;
+    const z = cx * cy * sz - sx * sy * cz;
+
+    return new Quaternion(x, y, z, w);
+  }
+
   public toEuler(): Vec3 {
     const { x, y, z, w } = this;