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fix extract euler angles

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This commit is contained in:
Recep Aslantas
2017-01-08 16:35:37 +02:00
parent 072ccf5d63
commit 16107c4ba1
2 changed files with 10 additions and 7 deletions
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3
LICENSE
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@@ -49,3 +49,6 @@ LICENSE:
David Eberly
Geometric Tools, LLC http://www.geometrictools.com/
Copyright (c) 1998-2016. All Rights Reserved.
Computing Euler angles from a rotation matrix (euler.pdf)
Gregory G. Slabaugh

14
include/cglm-euler.h
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@@ -43,8 +43,8 @@ glm_euler_order(char newOrder[3]) {
CGLM_INLINE
void
glm_euler_angles(mat4 m, vec3 dest) {
if (m[2][0] < 1.0f) {
if (m[2][0] > -1.0f) {
if (m[0][2] < 1.0f) {
if (m[0][2] > -1.0f) {
vec3 a[2];
float cy1, cy2;
int path;
@@ -66,13 +66,13 @@ glm_euler_angles(mat4 m, vec3 dest) {
glm_vec_dup(a[path], dest);
} else {
dest[0] = -atan2(m[0][1], m[2][1]);
dest[1] = -M_PI_2;
dest[3] = 0.0f;
dest[0] = atan2(m[1][0], m[2][0]);
dest[1] = M_PI_2;
dest[2] = 0.0f;
}
} else {
dest[0] = atan2f(m[0][1], m[1][1]);
dest[1] = M_PI_2;
dest[0] = atan2f(-m[1][0], -m[2][0]);
dest[1] =-M_PI_2;
dest[2] = 0.0f;
}
}