MrMonopoly/raylib
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix: QuaternionFromEuler() and QuaternionToEuler()

Browse Source
This commit is contained in:
krysperz2 2023-03-16 14:49:59 +05:30 committed by GitHub
parent 03516b1c68
commit 761677fad7
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 11 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
src/raymath.h
View File

@ -2070,10 +2070,10 @@ RMAPI Quaternion QuaternionFromEuler(float pitch, float yaw, float roll)
float z0 = cosf(roll*0.5f);
float z1 = sinf(roll*0.5f);
result.x = x1*y0*z0 - x0*y1*z1;
result.y = x0*y1*z0 + x1*y0*z1;
result.z = x0*y0*z1 - x1*y1*z0;
result.w = x0*y0*z0 + x1*y1*z1;
result.x = x0*y0*z0 + x1*y1*z1;
result.y = x0*y0*z1 - x1*y1*z0;
result.z = x1*y0*z1 + x0*y1*z1;
result.w = x0*y1*z0 - x1*y0*z1;
return result;
}
@ -2085,19 +2085,18 @@ RMAPI Vector3 QuaternionToEuler(Quaternion q)
Vector3 result = { 0 };
// Roll (x-axis rotation)
float x0 = 2.0f*(q.w*q.x + q.y*q.z);
float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
float x0 = 2.0f*(q.x*q.y + q.z*q.w);
float x1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
result.x = atan2f(x0, x1);
// Pitch (y-axis rotation)
float y0 = 2.0f*(q.w*q.y - q.z*q.x);
y0 = y0 > 1.0f ? 1.0f : y0;
y0 = y0 < -1.0f ? -1.0f : y0;
result.y = asinf(y0);
float y0 = 2.0f*(q.x*q.z - q.w*q.y);
float y1 = sqrtf(1 - 2 * (q.x * q.z - q.y * q.w));
result.y = 2.0f*atan2(y0, y1) - PI / 2.0f;
// Yaw (z-axis rotation)
float z0 = 2.0f*(q.w*q.z + q.x*q.y);
float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
float z0 = 2.0f*(q.x*q.w + q.y*q.z);
float z1 = 1.0f - 2.0f*(q.z*q.z + q.w*q.w);
result.z = atan2f(z0, z1);
return result;