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CEulerAngle Quaternion constructor fix

This commit is contained in:
Jack Andersen 2017-11-17 17:34:53 -10:00
parent 8013e19baf
commit f370b22b3b
2 changed files with 7 additions and 11 deletions
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2
include/zeus/CTransform.hpp
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@ -74,7 +74,7 @@ public:
return *this; return *this;
} }
inline zeus::CVector3f rotate(const CVector3f& vec) const { return *this * vec; } inline zeus::CVector3f rotate(const CVector3f& vec) const { return basis * vec; }
static inline CTransform RotateX(float theta) static inline CTransform RotateX(float theta)
{ {

16
src/CEulerAngles.cpp
View File

@ -16,25 +16,21 @@ CEulerAngles::CEulerAngles(const CQuaternion& quat)
double t4 = 0.0; double t4 = 0.0;
if (t3 > 0.0) if (t3 > 0.0)
{ t4 = std::sqrt(t3);
double sqrtT3 = std::sqrt(t3);
double t5 = 0.5 * sqrtT3 * -(t3 * sqrtT3 * sqrtT3 - 3.0); double t5 = t0 * quat.z * quat.y + t0 * quat.x * quat.w;
double t6 = 0.5 * t5 * -(t5 * t5 - 3.0);
double t7 = 0.5 * t6 * -(t3 * t6 * t6 - 3.0);
t4 = t3 * 0.5 * t7 * -(t3 * t7 * t7 - 3.0);
}
if (std::abs(t4) > 0.00001) if (std::abs(t4) > 0.00001)
{ {
x = -std::atan2(t0 * quat.z * quat.y + t0 * quat.x * quat.w, t4); x = -std::atan2(-t5, t4);
y = -std::atan2(t0 * quat.z * quat.x - t0 * quat.y * quat.w, y = -std::atan2(t0 * quat.z * quat.x - t0 * quat.y * quat.w,
1.0 - (t0 * quat.x * quat.x + t0 * quat.y * quat.y)); 1.0 - (t0 * quat.x * quat.x + t0 * quat.y * quat.y));
z = -std::atan2(t2, t1); z = -std::atan2(t2, t1);
} }
else else
{ {
x = -std::atan2(t0 * quat.z * quat.y + t0 * quat.x * quat.w, t4); x = -std::atan2(-t5, t4);
y = -std::atan2(t0 * quat.z * quat.x + t0 * quat.y * quat.w, y = -std::atan2(-(t0 * quat.z * quat.x + t0 * quat.y * quat.w),
1.0 - (t0 * quat.y * quat.y + t0 * quat.z * quat.z)); 1.0 - (t0 * quat.y * quat.y + t0 * quat.z * quat.z));
z = 0.f; z = 0.f;
} }