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euler: fix thetaY in extracting angles

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This commit is contained in:
Recep Aslantas
2018-03-27 12:35:19 +03:00
parent d1f3feeb6e
commit 26110f83d1
2 changed files with 3 additions and 4 deletions
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5
include/cglm/euler.h
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@@ -76,7 +76,6 @@ glm_euler_angles(mat4 m, vec3 dest) {
m01 = m[0][1]; m11 = m[1][1]; m21 = m[2][1]; m01 = m[0][1]; m11 = m[1][1]; m21 = m[2][1];
m22 = m[2][2]; m22 = m[2][2];
thetaY = 0.0f;
if (m20 < 1.0f) { if (m20 < 1.0f) {
if (m20 > -1.0f) { if (m20 > -1.0f) {
thetaY = asinf(m20); thetaY = asinf(m20);
@@ -84,10 +83,11 @@ glm_euler_angles(mat4 m, vec3 dest) {
thetaZ = atan2f(-m10, m00); thetaZ = atan2f(-m10, m00);
} else { /* m20 == -1 */ } else { /* m20 == -1 */
/* Not a unique solution */ /* Not a unique solution */
thetaY = -CGLM_PI_2;
thetaX = -atan2f(m01, m11); thetaX = -atan2f(m01, m11);
thetaZ = 0.0f; thetaZ = 0.0f;
} }
} else {/* m20 == +1 */ } else { /* m20 == +1 */
thetaY = CGLM_PI_2; thetaY = CGLM_PI_2;
thetaX = atan2f(m01, m11); thetaX = atan2f(m01, m11);
thetaZ = 0.0f; thetaZ = 0.0f;
@@ -98,7 +98,6 @@ glm_euler_angles(mat4 m, vec3 dest) {
dest[2] = thetaZ; dest[2] = thetaZ;
} }
/*! /*!
* @brief build rotation matrix from euler angles * @brief build rotation matrix from euler angles
* *

2
test/src/test_main.c
View File

@@ -20,7 +20,7 @@ main(int argc, const char * argv[]) {
cmocka_unit_test(test_clamp), cmocka_unit_test(test_clamp),
/* euler */ /* euler */
cmocka_unit_test(test_euler) cmocka_unit_test(test_euler)
}; };
return cmocka_run_group_tests(tests, NULL, NULL); return cmocka_run_group_tests(tests, NULL, NULL);