Improved quaternion and angle handling in logic nodes (+2bugfixes)

- Made so all nodes outputting a quaternion object also output it as a XYZ (vector) + W (float) combination
- Modernized the interface of the "Action/Rotate Object" node, to align on the newer "Action/Set Rotation" node interface  ("Action/Rotate Object Along Axis" is now depreciated, but still usable)
- Fixed a blender-side-only bug with the "Logic/Switch" node (...which technically could have lead to a compile-time problem if exploited the right way)
- Fixed a bug on the "Action/Set Rotation" node: now, quaternion input is automatically normalized in order to avoid accidental scaling
- Added a "Value/Separate Quaternion" node
- Made so the names of some sockets change in the "Set Rotation" and "Rotate Object" nodes, so they adapt to those nodes' input types.
  (Same thing with "Value/Vector From Transform"'s output type)

Sources/armory/logicnode/QuaternionNode.hx

@@ -1,6 +1,7 @@
 package armory.logicnode;
 
 import iron.math.Quat;
+import iron.math.Vec4;
 
 class QuaternionNode extends LogicNode {
 
@@ -22,7 +23,22 @@ class QuaternionNode extends LogicNode {
 		value.y = inputs[1].get();
 		value.z = inputs[2].get();
 		value.w = inputs[3].get();
-		return value;
+		value.normalize();
+		switch (from){
+		case 0:
+			return value;
+	        case 1:
+	                var value1 = new Vec4();
+			value1.x = value.x;
+			value1.y = value.y;
+			value1.z = value.z;
+			value1.w = 0; // use 0 to avoid this vector being translated.
+			return value1;
+		case 2:
+		        return value.w;
+		default:
+			return null;
+		}
 	}
 
 	override function set(value: Dynamic) {

Sources/armory/logicnode/RotateObjectNode.hx

@@ -7,6 +7,7 @@ import armory.trait.physics.RigidBody;
 
 class RotateObjectNode extends LogicNode {
 
+	public var property0 = "uninitialized";
 	var q = new Quat();
 
 	public function new(tree: LogicTree) {
@@ -16,10 +17,34 @@ class RotateObjectNode extends LogicNode {
 	override function run(from: Int) {
 		var object: Object = inputs[1].get();
 		var vec: Vec4 = inputs[2].get();
-
+		var w: Float = 0;
+		
+		// the next if/else block exist to ensure backwards compatibility with nodes that were created before armory 2020.09.
+		// delete it when the "old version" of this node will be considered removed from armory.
+		if (property0=="uninitialized") {
+			property0="Euler Angles";
+		}
+		else{
+			w = inputs[3].get();
+		}
 		if (object == null || vec == null) return;
 
-		q.fromEuler(vec.x, vec.y, vec.z);
+		switch (property0) {
+			case "Euler Angles":
+				q.fromEuler(vec.x, vec.y, vec.z);
+			case "Angle Axies (Degrees)" | "Angle Axies (Radians)":
+				var angle: Float = w;
+				if (property0 == "Angle Axies (Degrees)") {
+					angle = angle * (Math.PI / 180);
+				}
+				var angleSin = Math.sin(angle / 2);
+				vec = vec.normalize();
+				var angleCos = Math.cos(angle / 2);
+				q = new Quat(vec.x * angleSin, vec.y * angleSin, vec.z * angleSin, angleCos);
+			case "Quaternion":
+				q = new Quat(vec.x, vec.y, vec.z, w);
+				q.normalize();
+		}
 
 		object.transform.rot.mult(q);
 		object.transform.buildMatrix();

Sources/armory/logicnode/SeparateQuaternionNode.hx

@@ -0,0 +1,23 @@
+package armory.logicnode;
+
+import iron.math.Quat;
+import kha.FastFloat;
+
+class SeparateQuaternionNode extends LogicNode {
+	var q:Quat = null;
+
+	public function new(tree:LogicTree) { super(tree); }
+    
+	override function get(from:Int):Dynamic{
+		q = inputs[0].get();
+		if (from==0)
+			return q.x;
+		else if (from==1)
+			return q.y;
+		else if (from==2)
+			return q.z;
+		else
+			return q.w;
+
+	}
+}

Sources/armory/logicnode/SetRotationNode.hx

@@ -34,6 +34,7 @@ class SetRotationNode extends LogicNode {
 				object.transform.rot = new Quat(vec.x * angleSin, vec.y * angleSin, vec.z * angleSin, angleCos);
 			case "Quaternion":
 				object.transform.rot = new Quat(vec.x, vec.y, vec.z, w);
+				object.transform.rot.normalize();
 		}
 		object.transform.buildMatrix();
 		#if arm_physics

Sources/armory/logicnode/VectorFromTransformNode.hx

@@ -2,6 +2,7 @@ package armory.logicnode;
 
 import iron.math.Quat;
 import iron.math.Mat4;
+import iron.math.Vec4;
 
 class VectorFromTransformNode extends LogicNode {
 
@@ -16,16 +17,37 @@ class VectorFromTransformNode extends LogicNode {
 
 		if (m == null) return null;
 
-		switch (property0) {
-		case "Up":
-			return m.up();
-		case "Right":
-			return m.right();
-		case "Look":
-			return m.look();
-		case "Quaternion":
-			var q = new Quat();
-			return q.fromMat(m);
+		switch(from) {
+		case 0:
+			switch (property0) {
+			case "Up":
+				return m.up();
+			case "Right":
+				return m.right();
+			case "Look":
+				return m.look();
+			case "Quaternion":
+				var q = new Quat();
+				q.fromMat(m);
+				return q.normalize();
+			}
+		case 1:
+			if (property0 == "Quaternion") {
+				var q = new Quat();
+				q.fromMat(m);
+				q.normalize();
+				var v = new Vec4();
+				v.x = q.x; v.y = q.y; v.z = q.z;
+				v.w = 0;  //prevent vector translation
+				return v;
+			}
+		case 2:
+			if (property0 == "Quaternion") {
+				var q = new Quat();
+				q.fromMat(m);
+				q.normalize();
+				return q.w;
+			}
 		}
 
 		return null;

blender/arm/logicnode/action_rotate_object.py

@@ -12,7 +12,40 @@ class RotateObjectNode(Node, ArmLogicTreeNode):
     def init(self, context):
         self.inputs.new('ArmNodeSocketAction', 'In')
         self.inputs.new('ArmNodeSocketObject', 'Object')
-        self.inputs.new('NodeSocketVector', 'Vector')
+        self.inputs.new('NodeSocketVector', 'Euler Angles')
+        self.inputs.new('NodeSocketFloat', 'Angle / W')
         self.outputs.new('ArmNodeSocketAction', 'Out')
+        
+    def on_property_update(self, context):
+        """ called by the EnumProperty, used to update the node socket labels"""
+        if self.property0 == "Quaternion":
+            self.inputs[2].name = "Quaternion XYZ"
+            self.inputs[3].name = "Quaternion W"
+        elif self.property0 == "Euler Angles":
+            self.inputs[2].name = "Euler Angles"
+            self.inputs[3].name = "[unused for Euler input]"
+        elif self.property0.startswith("Angle Axies"):
+            self.inputs[2].name = "Axis"
+            self.inputs[3].name = "Angle"
+        else:
+            raise ValueError('No nodesocket labels for current input mode: check self-consistancy of action_set_rotation.py')
+        
+    def draw_buttons(self, context, layout):
+        # this block is here to ensure backwards compatibility and warn the user.
+        # delete it (only keep the "else" part) when the 'old version' of the node will be considered removed.
+        # (note: please also update the corresponding haxe file when doing so)
+        if len(self.inputs) < 4:
+            row = layout.row(align=True)
+            row.label(text="Node has been updated with armory 2020.09. Please consider deleting and recreating it.")
+        else:
+            layout.prop(self, 'property0')
+            
+    property0: EnumProperty(
+        items = [('Euler Angles', 'Euler Angles', 'Euler Angles'),
+                 ('Angle Axies (Radians)', 'Angle Axies (Radians)', 'Angle Axies (Radians)'),
+                 ('Angle Axies (Degrees)', 'Angle Axies (Degrees)', 'Angle Axies (Degrees)'),
+                 ('Quaternion', 'Quaternion', 'Quaternion')],
+        name='', default='Euler Angles',
+        update = on_property_update)
 
 add_node(RotateObjectNode, category='Action')

blender/arm/logicnode/action_rotate_object_around_axis.py

@@ -7,7 +7,8 @@ class RotateObjectAroundAxisNode(Node, ArmLogicTreeNode):
     '''Rotate object around axis node'''
     bl_idname = 'LNRotateObjectAroundAxisNode'
     bl_label = 'Rotate Object Around Axis'
-    bl_icon = 'NONE'
+    bl_description = 'Rotate Object Around Axis (Depreciated: use "Rotate Object")'
+    bl_icon = 'ERROR'
 
     def init(self, context):
         self.inputs.new('ArmNodeSocketAction', 'In')
@@ -16,5 +17,9 @@ class RotateObjectAroundAxisNode(Node, ArmLogicTreeNode):
         self.inputs[-1].default_value = [0, 0, 1]
         self.inputs.new('NodeSocketFloat', 'Angle')
         self.outputs.new('ArmNodeSocketAction', 'Out')
+        
+    def draw_buttons(self, context, layout):
+        row = layout.row(align=True)
+        row.label(text='Depreciated. Consider using "Rotate Object"')
 
 add_node(RotateObjectAroundAxisNode, category='Action')

blender/arm/logicnode/action_set_rotation.py

@@ -9,21 +9,36 @@ class SetRotationNode(Node, ArmLogicTreeNode):
     bl_label = 'Set Rotation'
     bl_icon = 'NONE'
 
-    property0: EnumProperty(
-        items = [('Euler Angles', 'Euler Angles', 'Euler Angles'),
-                 ('Angle Axies (Radians)', 'Angle Axies (Radians)', 'Angle Axies (Radians)'),
-                 ('Angle Axies (Degrees)', 'Angle Axies (Degrees)', 'Angle Axies (Degrees)'),
-                 ('Quaternion', 'Quaternion', 'Quaternion')],
-        name='', default='Euler Angles')
-
     def init(self, context):
         self.inputs.new('ArmNodeSocketAction', 'In')
         self.inputs.new('ArmNodeSocketObject', 'Object')
         self.inputs.new('NodeSocketVector', 'Euler Angles / Vector XYZ')
         self.inputs.new('NodeSocketFloat', 'Angle / W')
         self.outputs.new('ArmNodeSocketAction', 'Out')
+        
+    def on_property_update(self, context):
+        """called by the EnumProperty, used to update the node socket labels"""
+        if self.property0 == "Quaternion":
+            self.inputs[2].name = "Quaternion XYZ"
+            self.inputs[3].name = "Quaternion W"
+        elif self.property0 == "Euler Angles":
+            self.inputs[2].name = "Euler Angles"
+            self.inputs[3].name = "[unused for Euler input]"
+        elif self.property0.startswith("Angle Axies"):
+            self.inputs[2].name = "Axis"
+            self.inputs[3].name = "Angle"
+        else:
+            raise ValueError('No nodesocket labels for current input mode: check self-consistancy of action_set_rotation.py')
 
     def draw_buttons(self, context, layout):
         layout.prop(self, 'property0')
+        
+    property0: EnumProperty(
+        items = [('Euler Angles', 'Euler Angles', 'Euler Angles'),
+                 ('Angle Axies (Radians)', 'Angle Axies (Radians)', 'Angle Axies (Radians)'),
+                 ('Angle Axies (Degrees)', 'Angle Axies (Degrees)', 'Angle Axies (Degrees)'),
+                 ('Quaternion', 'Quaternion', 'Quaternion')],
+        name='', default='Euler Angles',
+        update=on_property_update)
 
 add_node(SetRotationNode, category='Action')

blender/arm/logicnode/logic_switch.py

@@ -8,7 +8,7 @@ class SwitchNode(Node, ArmLogicTreeNode):
     bl_idname = 'LNSwitchNode'
     bl_label = 'Switch'
     bl_icon = 'NONE'
-    min_inputs = 1
+    min_inputs = 2
     min_outputs = 1
     
     def __init__(self):

blender/arm/logicnode/value_separate_quaternion.py

@@ -0,0 +1,21 @@
+import bpy
+from bpy.props import *
+from bpy.types import Node, NodeSocket
+from arm.logicnode.arm_nodes import *
+
+
+class SeparateQuaternionNode(Node, ArmLogicTreeNode):
+
+    bl_idname = 'LNSeparateQuaternionNode'
+    bl_label = "Separate Quaternion"
+    bl_icon = 'NONE'
+    
+    def init(self, context):
+        self.inputs.new('NodeSocketVector', 'Quaternion')
+        self.outputs.new('NodeSocketFloat', 'X')
+        self.outputs.new('NodeSocketFloat', 'Y')
+        self.outputs.new('NodeSocketFloat', 'Z')
+        self.outputs.new('NodeSocketFloat', 'W')
+
+   
+add_node(SeparateQuaternionNode, 'Value')

blender/arm/logicnode/value_vector_from_transform.py

@@ -8,18 +8,36 @@ class VectorFromTransformNode(Node, ArmLogicTreeNode):
     bl_idname = 'LNVectorFromTransformNode'
     bl_label = 'Vector From Transform'
     bl_icon = 'NONE'
+
+    def init(self, context):
+        self.inputs.new('NodeSocketShader', 'Transform')
+        self.outputs.new('NodeSocketVector', 'Vector')
+        self.outputs.new('NodeSocketVector', 'Quaternion XYZ')
+        self.outputs.new('NodeSocketFloat', 'Quaternion W')
+    
+    def on_property_update(self, context):
+        """called by the EnumProperty, used to update the node socket labels"""
+        # note: the conditions on len(self.outputs) are take in account "old version" (pre-2020.9) nodes, which only have one output
+        if self.property0 == "Quaternion":
+            self.outputs[0].name = "Quaternion"
+            if len(self.outputs) > 1:
+                self.outputs[1].name = "Quaternion XYZ"
+                self.outputs[2].name = "Quaternion W"
+        else:
+            self.outputs[0].name = "Vector"
+            if len(self.outputs) > 1:
+                self.outputs[1].name = "[quaternion only]"
+                self.outputs[2].name = "[quaternion only]"
+
+    def draw_buttons(self, context, layout):
+        layout.prop(self, 'property0')
+        
     property0: EnumProperty(
         items = [('Up', 'Up', 'Up'),
                  ('Right', 'Right', 'Right'),
                  ('Look', 'Look', 'Look'),
                  ('Quaternion', 'Quaternion', 'Quaternion')],
-        name='', default='Look')
-
-    def init(self, context):
-        self.inputs.new('NodeSocketShader', 'Transform')
-        self.outputs.new('NodeSocketVector', 'Vector')
-
-    def draw_buttons(self, context, layout):
-        layout.prop(self, 'property0')
+        name='', default='Look',
+        update=on_property_update)
 
 add_node(VectorFromTransformNode, category='Value')

blender/arm/logicnode/variable_quaternion.py

@@ -17,5 +17,7 @@ class QuaternionNode(Node, ArmLogicTreeNode):
         self.inputs[-1].default_value = 1.0
         
         self.outputs.new('NodeSocketVector', 'Quaternion')
+        self.outputs.new('NodeSocketVector', 'XYZ')
+        self.outputs.new('NodeSocketFloat', 'W')
 
 add_node(QuaternionNode, category='Variable')