Maya Quaternion Solved

This is a post by Mike Paixao:

I have fixed the code and it works properly now

to use the script simply select your object and run it, it will print out your information needed for rotation

NOTICE!!
only Rotate in GIMBAL this way your sure to not touch the extra axis by mistake
you cannot more than 2 rotations Z and X together OR Y and Z...

this is because the torque engine uses ZXY rotation order, Maya is ZYX

so by moving a 3rd rotation, its no longer the same as torque, and I dont feel like changing the way Maya's rotate works at its core programming...

pretty much just got the math right from the torque source code

enjoy!

////////////////////////////////////////////////////
// Written by Mike Paixao //
// date: June 06, 2007 //
// //
// mdeschamps@fuelindustries.com //
// www.fuelindustries.com //
///////////////////////////////////////////////

global proc torqueQuant()
{
float $ParamX;
float $ParamY;
float $ParamZ;
float $x;
float $y;
float $z;
float $cx;
float $cy;
float $cz;
float $sx;
float $sy;
float $sz;
float $cycz;
float $sysz;
float $sycz;
float $cysz;
float $Qx;
float $Qy;
float $Qz;
float $Qw;
float $l;

$ParamX = 'getAttr .rx';
$ParamY = 'getAttr .ry';
$ParamZ = 'getAttr .rz';

$x = deg_to_rad($ParamX );
$y = deg_to_rad($ParamY );
$z = deg_to_rad($ParamZ );

$x = -$x * 0.5;
$y = -$y * 0.5;
$z = -$z * 0.5;

$cx = 'cos($x)';
$cy = 'cos($y)';
$cz = 'cos($z)';
$sx = 'sin($x)';
$sy = 'sin($y)';
$sz = 'sin($z)';

$cycz = $cy * $cz;
$sysz = $sy * $sz;
$sycz = $sy * $cz;
$cysz = $cy * $sz;

$Qw = $cycz * $cx + $sysz * $sx;
$Qx = $cycz * $sx + $sysz * $cx;
$Qy = $sycz * $cx - $cysz * $sx;
$Qz = $cysz * $cx - $sycz * $sx;

$l = sqrt( $Qx*$Qx + $Qy*$Qy + $Qz*$Qz + $Qw*$Qw );
if( $l == 0 )
{
$Qx = 0;
$Qy = 0;
$Qz = 0;
}
else
{
$Qx /= $l;
$Qy /= $l;
$Qz /= $l;
$Qw /= $l;
}

$angle = acosd($Qw) * 2;
$sinHalfAngle = sqrt(1 - ($Qw * $Qw));
if ($sinHalfAngle != 0)
{
$Qx = $Qx / $sinHalfAngle;
$Qy = $Qy / $sinHalfAngle;
$Qz = $Qz / $sinHalfAngle;
}
else
{
$Qx = 1;
$Qy = 0;
$Qz = 0;
}
$angleN = $angle;


// this is just for the other print that truncates to 0.00//
int $rAngle = $angle;
int $rX = $Qx*100; float $fx = $rX; float $xxx = $fx/100;
int $rY = $Qy*100; float $fy = $rY; float $yyy = $fy/100;
int $rZ = $Qz*100; float $fz = $rZ; float $zzz = $fz/100;
// truncated print is muted, DOES NOT ROUND OFF //
//print ($xxx+" "+-$zzz+" "+$yyy+" "+$rAngle);

print ($Qx+" "+-$Qz+" "+$Qy+" "+$angleN);
}

torqueQuant;