2 files changed, 18 insertions, 0 deletions
diff --git a/src/math/axis.cc b/src/math/axis.cc
index 3710c89..60d3797 100644
--- a/src/math/axis.cc
+++ b/src/math/axis.cc
@@ -44,6 +44,17 @@ void Axis::assign(const btMatrix3x3 & other)
 	}
 }
 
+void Axis::assign(const float yaw, const float pitch, const float roll)
+{
+	clear();
+	if (yaw)
+		change_direction(yaw);
+	if (pitch)
+		change_pitch(-pitch);
+	if (roll)
+		change_roll(-roll);
+}
+
 Axis & Axis::operator=(const Axis & other)
 {
 	assign(other);
diff --git a/src/math/axis.h b/src/math/axis.h
index f9da159..3991843 100644
--- a/src/math/axis.h
+++ b/src/math/axis.h
@@ -26,6 +26,13 @@ public:
 	void assign(const Axis & other);
 	
 	void assign(const btMatrix3x3 & other);
+	
+	/**
+	 * @brief assign radiant yaw, pitch and roll angles.
+	 * This method changes the sign of the pitch and roll angles
+	 * before applying them
+	 */
+	void assign(const float yaw, const float pitch, const float roll);
 
 	/// global coordinates of the X-axis in the local coordinates system
 	inline const Vector3f & forward() const {