From 26110f83d112357d1e900edfbe17f9e0eacd283e Mon Sep 17 00:00:00 2001
From: Recep Aslantas <info@recp.me>
Date: Tue, 27 Mar 2018 12:35:19 +0300
Subject: [PATCH] euler: fix thetaY in extracting angles

---
 include/cglm/euler.h | 5 ++---
 test/src/test_main.c | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/include/cglm/euler.h b/include/cglm/euler.h
index 7417bde..5db7e66 100644
--- a/include/cglm/euler.h
+++ b/include/cglm/euler.h
@@ -76,7 +76,6 @@ glm_euler_angles(mat4 m, vec3 dest) {
   m01 = m[0][1];  m11 = m[1][1];  m21 = m[2][1];
                                   m22 = m[2][2];
 
-  thetaY = 0.0f;
   if (m20 < 1.0f) {
     if (m20 > -1.0f) {
       thetaY = asinf(m20);
@@ -84,10 +83,11 @@ glm_euler_angles(mat4 m, vec3 dest) {
       thetaZ = atan2f(-m10, m00);
     } else { /* m20 == -1 */
       /* Not a unique solution */
+      thetaY = -CGLM_PI_2;
       thetaX = -atan2f(m01, m11);
       thetaZ =  0.0f;
     }
-  } else {/* m20 == +1 */
+  } else { /* m20 == +1 */
     thetaY = CGLM_PI_2;
     thetaX = atan2f(m01, m11);
     thetaZ = 0.0f;
@@ -98,7 +98,6 @@ glm_euler_angles(mat4 m, vec3 dest) {
   dest[2] = thetaZ;
 }
 
-
 /*!
  * @brief build rotation matrix from euler angles
  *
diff --git a/test/src/test_main.c b/test/src/test_main.c
index 38eb4c2..38d2fe4 100644
--- a/test/src/test_main.c
+++ b/test/src/test_main.c
@@ -20,7 +20,7 @@ main(int argc, const char * argv[]) {
     cmocka_unit_test(test_clamp),
 
     /* euler */
-     cmocka_unit_test(test_euler)
+    cmocka_unit_test(test_euler)
   };
 
   return cmocka_run_group_tests(tests, NULL, NULL);