From 551175333f626bb821a4da88ad859444e552717a Mon Sep 17 00:00:00 2001 From: Recep Aslantas Date: Thu, 13 Oct 2016 16:47:03 +0300 Subject: [PATCH] fix yaw-pitch-roll --- include/cglm-euler.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/include/cglm-euler.h b/include/cglm-euler.h index 9dcfc91..bc5e150 100644 --- a/include/cglm-euler.h +++ b/include/cglm-euler.h @@ -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 void @@ -58,13 +58,13 @@ glm_yaw_pitch_roll(float yaw, sz = sinf(roll); cz = cosf(roll); dest[0][0] = cy * cz; - dest[0][1] = cy * sz; - dest[0][2] =-sy; - dest[1][0] = cz * sx * sy - cx * sz; + dest[0][1] = cz * sx * sy - cx * sz; + dest[0][2] = cx * cz * sy + sx * sz; + dest[1][0] = cy * sz; dest[1][1] = cx* cz + sx * sy * sz; - dest[1][2] = cy * sx; - dest[2][0] = cx * cz * sy + sx * sz; - dest[2][1] =-cz * sx + cx * sy * sz; + dest[1][2] =-cz * sx + cx * sy * sz; + dest[2][0] =-sy; + dest[2][1] = cy * sx; dest[2][2] = cx * cy; dest[0][3] = 0.0f; dest[1][3] = 0.0f;