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Quat euler fixup;

This commit is contained in:
bjorn 2024-01-20 03:45:21 -08:00
parent 7b72c64de4
commit 4e2c0111c7
1 changed files with 18 additions and 18 deletions
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36
src/core/maf.h
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@ -494,33 +494,33 @@ MAF quat quat_between(quat q, vec3 u, vec3 v) {
return quat_normalize(q);
}
MAF void quat_getEuler(quat q, float* x, float* y, float *z) {
MAF void quat_getEuler(quat q, float* x, float* y, float* z) {
float unit = (q[0] * q[0]) + (q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3]);
float test = q[0] * q[3] - q[1] * q[2];
const float eps = 1e-7f;
if (test > (0.5 - eps) * unit) {
*x = (float)M_PI / 2.0f;
*y = (float)2.0f * atan2(q[1], q[0]);
*z = 0.0f;
} else if (test < -(0.5 - eps) * unit) {
*x = (float)-M_PI / 2.0f;
*y = (float)-2.0f * atan2(q[1], q[0]);
*z = 0.0f;
if (test > (.5f - eps) * unit) {
*x = (float) M_PI / 2.f;
*y = 2.f * atan2f(q[1], q[0]);
*z = 0.f;
} else if (test < -(.5f - eps) * unit) {
*x = (float) -M_PI / 2.f;
*y = -2.f * atan2f(q[1], q[0]);
*z = 0.f;
} else {
*x = asin(2.0 * (q[3] * q[0] - q[1] * q[2]));
*y = atan2(2.0 * q[3] * q[1] + 2.0 * q[2] * q[0], 1 - 2.0 * (q[0] * q[0] + q[1] * q[1]));
*z = atan2(2.0 * q[3] * q[2] + 2.0 * q[0] * q[1], 1 - 2.0 * (q[2] * q[2] + q[0] * q[0]));
*x = asinf(2.f * (q[3] * q[0] - q[1] * q[2]));
*y = atan2f(2.f * q[3] * q[1] + 2.f * q[2] * q[0], 1.f - 2.f * (q[0] * q[0] + q[1] * q[1]));
*z = atan2f(2.f * q[3] * q[2] + 2.f * q[0] * q[1], 1.f - 2.f * (q[2] * q[2] + q[0] * q[0]));
}
}
MAF quat quat_setEuler(quat q, float x, float y, float z) {
float cx = cos(x * 0.5);
float sx = sin(x * 0.5);
float cy = cos(y * 0.5);
float sy = sin(y * 0.5);
float cz = cos(z * 0.5);
float sz = sin(z * 0.5);
float cx = cosf(x * .5f);
float sx = sinf(x * .5f);
float cy = cosf(y * .5f);
float sy = sinf(y * .5f);
float cz = cosf(z * .5f);
float sz = sinf(z * .5f);
return quat_set(q,
cy * sx * cz + sy * cx * sz,