From ffe9250a28fa58ab6612c4a97f490d4ea4db9444 Mon Sep 17 00:00:00 2001 From: Recep Aslantas Date: Mon, 24 Oct 2016 21:46:43 +0300 Subject: [PATCH] improve euler angles --- include/cglm-euler.h | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/include/cglm-euler.h b/include/cglm-euler.h index 639c146..7033420 100644 --- a/include/cglm-euler.h +++ b/include/cglm-euler.h @@ -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]));