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improve euler angles

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This commit is contained in:
Recep Aslantas
2016-10-24 21:46:43 +03:00
parent e8cb10de72
commit ffe9250a28
1 changed files with 8 additions and 4 deletions
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12
include/cglm-euler.h
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@@ -27,16 +27,20 @@ glm_euler_angles(mat4 m,
if (m[2][0] < 1.0f) {
if (m[2][0] > -1.0f) {
float a[2][3];
float cy1, cy2;
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]));
cy1 = cosf(a[0][0]);
cy2 = 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]));
a[0][1] = atan2f(-m[2][1] / cy1, m[2][2] / cy1);
a[1][1] = atan2f(-m[2][1] / cy2, m[2][2] / cy2);
a[0][2] = atan2f(-m[1][0] / cy1, m[0][0] / cy1);
a[1][2] = atan2f(-m[1][0] / 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]));