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euler: fix extracting XYZ angles

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This commit is contained in:
Recep Aslantas
2018-03-27 12:14:12 +03:00
parent c244b68e73
commit 4298211795
3 changed files with 33 additions and 28 deletions
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4
include/cglm/call/euler.h
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@@ -21,6 +21,10 @@ CGLM_EXPORT
void
glmc_euler(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_xyz(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_zyx(vec3 angles, mat4 dest);

51
include/cglm/euler.h
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@@ -69,38 +69,33 @@ glm_euler_order(int ord[3]) {
CGLM_INLINE
void
glm_euler_angles(mat4 m, vec3 dest) {
if (m[0][2] < 1.0f) {
if (m[0][2] > -1.0f) {
vec3 a[2];
float cy1, cy2;
int path;
float m00, m01, m10, m11, m20, m21, m22;
float thetaX, thetaY, thetaZ;
a[0][1] = asinf(-m[0][2]);
a[1][1] = CGLM_PI - a[0][1];
m00 = m[0][0]; m10 = m[1][0]; m20 = m[2][0];
m01 = m[0][1]; m11 = m[1][1]; m21 = m[2][1];
m22 = m[2][2];
cy1 = cosf(a[0][1]);
cy2 = cosf(a[1][1]);
a[0][0] = atan2f(m[1][2] / cy1, m[2][2] / cy1);
a[1][0] = atan2f(m[1][2] / cy2, m[2][2] / cy2);
a[0][2] = atan2f(m[0][1] / cy1, m[0][0] / cy1);
a[1][2] = atan2f(m[0][1] / cy2, m[0][0] / cy2);
path = (fabsf(a[0][0]) + fabsf(a[0][1]) + fabsf(a[0][2])) >=
(fabsf(a[1][0]) + fabsf(a[1][1]) + fabsf(a[1][2]));
glm_vec_copy(a[path], dest);
} else {
dest[0] = atan2f(m[1][0], m[2][0]);
dest[1] = CGLM_PI_2;
dest[2] = 0.0f;
thetaY = 0.0f;
if (m20 < 1.0f) {
if (m20 > -1.0f) {
thetaY = asinf(m20);
thetaX = atan2f(-m21, m22);
thetaZ = atan2f(-m10, m00);
} else { /* m20 == -1 */
/* Not a unique solution */
thetaX = -atan2f(m01, m11);
thetaZ = 0.0f;
}
} else {
dest[0] = atan2f(-m[1][0], -m[2][0]);
dest[1] =-CGLM_PI_2;
dest[2] = 0.0f;
} else {/* m20 == +1 */
thetaY = CGLM_PI_2;
thetaX = atan2f(m01, m11);
thetaZ = 0.0f;
}
dest[0] = thetaX;
dest[1] = thetaY;
dest[2] = thetaZ;
}