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improve extracting euler angles

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This commit is contained in:
Recep Aslantas
2016-10-24 21:42:40 +03:00
parent baf60f0a31
commit e8cb10de72
1 changed files with 19 additions and 4 deletions
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23
include/cglm-euler.h
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@@ -11,7 +11,7 @@
#include "cglm-common.h"
/*!
* @brief euler angles (in radian) for xyz sequence
* @brief euler angles (in radian) using xyz sequence
*
* @param[in] m affine transform
* @param[out] pitch x
@@ -26,9 +26,24 @@ glm_euler_angles(mat4 m,
float * __restrict roll) {
if (m[2][0] < 1.0f) {
if (m[2][0] > -1.0f) {
*yaw = asinf(m[2][0]);
*pitch = atan2f(-m[2][1], m[2][2]);
*roll = atan2f(-m[1][0], m[0][0]);
float a[2][3];
int path;
a[0][0] = asinf(m[2][0]);
a[1][0] = M_PI - a[0][0];
a[0][1] = atan2f(-m[2][1] / cosf(a[0][0]), m[2][2] / cosf(a[0][0]));
a[1][1] = atan2f(-m[2][1] / cosf(a[1][0]), m[2][2] / cosf(a[1][0]));
a[0][2] = atan2f(-m[1][0] / cosf(a[0][0]), m[0][0] / cosf(a[0][0]));
a[1][2] = atan2f(-m[1][0] / cosf(a[1][0]), m[0][0] / cosf(a[1][0]));
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]));
*yaw = a[path][0];
*pitch = a[path][1];
*roll = a[path][2];
} else {
*yaw = -M_PI_2;
*pitch = -atan2(m[0][1], m[2][1]);