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Merge pull request #1076 from stephomi/decompose_wxyz

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Fix matrix decompose (wxyz quaternion) #1076
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Christophe 2021-06-07 21:29:54 +02:00 committed by GitHub
commit 84f2045a79
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1 changed files with 9 additions and 3 deletions
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12
glm/gtx/matrix_decompose.inl
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@ -172,12 +172,18 @@ namespace detail
j = Next[i];
k = Next[j];
# ifdef GLM_FORCE_QUAT_DATA_XYZW
int off = 0;
# else
int off = 1;
# endif
root = sqrt(Row[i][i] - Row[j][j] - Row[k][k] + static_cast<T>(1.0));
Orientation[i] = static_cast<T>(0.5) * root;
Orientation[i + off] = static_cast<T>(0.5) * root;
root = static_cast<T>(0.5) / root;
Orientation[j] = root * (Row[i][j] + Row[j][i]);
Orientation[k] = root * (Row[i][k] + Row[k][i]);
Orientation[j + off] = root * (Row[i][j] + Row[j][i]);
Orientation[k + off] = root * (Row[i][k] + Row[k][i]);
Orientation.w = root * (Row[j][k] - Row[k][j]);
} // End if <= 0