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Fixed glm::decompose #448

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This commit is contained in:
Christophe Riccio 2016-11-20 22:24:32 +01:00
parent 572e407d60
commit 8873915118
2 changed files with 26 additions and 38 deletions
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63
glm/gtx/matrix_decompose.inl
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@ -147,47 +147,34 @@ namespace detail
// ret.rotateZ = 0;
// }
T s, t, x, y, z, w;
t = Row[0][0] + Row[1][1] + Row[2][2] + static_cast<T>(1);
if(t > static_cast<T>(1e-4))
int i, j, k = 0;
float root, trace = Row[0].x + Row[1].y + Row[2].z;
if(trace > static_cast<T>(0))
{
s = static_cast<T>(0.5) / sqrt(t);
w = static_cast<T>(0.25) / s;
x = (Row[2][1] - Row[1][2]) * s;
y = (Row[0][2] - Row[2][0]) * s;
z = (Row[1][0] - Row[0][1]) * s;
}
else if(Row[0][0] > Row[1][1] && Row[0][0] > Row[2][2])
{
s = sqrt (static_cast<T>(1) + Row[0][0] - Row[1][1] - Row[2][2]) * static_cast<T>(2); // S=4*qx
x = static_cast<T>(0.25) * s;
y = (Row[0][1] + Row[1][0]) / s;
z = (Row[0][2] + Row[2][0]) / s;
w = (Row[2][1] - Row[1][2]) / s;
}
else if(Row[1][1] > Row[2][2])
{
s = sqrt (static_cast<T>(1) + Row[1][1] - Row[0][0] - Row[2][2]) * static_cast<T>(2); // S=4*qy
x = (Row[0][1] + Row[1][0]) / s;
y = static_cast<T>(0.25) * s;
z = (Row[1][2] + Row[2][1]) / s;
w = (Row[0][2] - Row[2][0]) / s;
}
root = sqrt(trace + static_cast<T>(1.0));
Orientation.w = static_cast<T>(0.5) * root;
root = static_cast<T>(0.5) / root;
Orientation.x = root * (Row[1].z - Row[2].y);
Orientation.y = root * (Row[2].x - Row[0].z);
Orientation.z = root * (Row[0].y - Row[1].x);
} // End if > 0
else
{
s = sqrt(static_cast<T>(1) + Row[2][2] - Row[0][0] - Row[1][1]) * static_cast<T>(2); // S=4*qz
x = (Row[0][2] + Row[2][0]) / s;
y = (Row[1][2] + Row[2][1]) / s;
z = static_cast<T>(0.25) * s;
w = (Row[1][0] - Row[0][1]) / s;
}
{
static int Next[3] = {1, 2, 0};
i = 0;
if(Row[1].y > Row[0].x) i = 1;
if(Row[2].z > Row[i][i]) i = 2;
j = Next[i];
k = Next[j];
Orientation.x = x;
Orientation.y = y;
Orientation.z = z;
Orientation.w = w;
root = sqrt(Row[i][i] - Row[j][j] - Row[k][k] + static_cast<T>(1.0));
Orientation[i] = 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.w = root * (Row[j][k] - Row[k][j]);
} // End if <= 0
return true;
}

1
readme.md
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@ -67,6 +67,7 @@ glm::mat4 camera(float Translate, glm::vec2 const & Rotate)
#### Fixes:
- Removed doxygen references to GTC_half_float which was removed in 0.9.4
- Fixed glm::decompose #448
#### Deprecation:
- Removed GLM_GTX_simd_vec4 extension