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fix yaw-pitch-roll

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This commit is contained in:
Recep Aslantas
2016-10-13 16:47:03 +03:00
parent 2c6b257a82
commit 551175333f
1 changed files with 7 additions and 7 deletions
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14
include/cglm-euler.h
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@@ -42,7 +42,7 @@ glm_euler_angle(float yaw,
} }
/*! /*!
* @brief build rotation matrix from euler angles/yaw-pitch-roll (zyx) * @brief build rotation matrix from euler angles/yaw-pitch-roll (xyz)
*/ */
CGLM_INLINE CGLM_INLINE
void void
@@ -58,13 +58,13 @@ glm_yaw_pitch_roll(float yaw,
sz = sinf(roll); cz = cosf(roll); sz = sinf(roll); cz = cosf(roll);
dest[0][0] = cy * cz; dest[0][0] = cy * cz;
dest[0][1] = cy * sz; dest[0][1] = cz * sx * sy - cx * sz;
dest[0][2] =-sy; dest[0][2] = cx * cz * sy + sx * sz;
dest[1][0] = cz * sx * sy - cx * sz; dest[1][0] = cy * sz;
dest[1][1] = cx* cz + sx * sy * sz; dest[1][1] = cx* cz + sx * sy * sz;
dest[1][2] = cy * sx; dest[1][2] =-cz * sx + cx * sy * sz;
dest[2][0] = cx * cz * sy + sx * sz; dest[2][0] =-sy;
dest[2][1] =-cz * sx + cx * sy * sz; dest[2][1] = cy * sx;
dest[2][2] = cx * cy; dest[2][2] = cx * cy;
dest[0][3] = 0.0f; dest[0][3] = 0.0f;
dest[1][3] = 0.0f; dest[1][3] = 0.0f;