mirror/glm
1
0
Fork 0
mirror of https://github.com/g-truc/glm.git synced 2024-11-10 04:31:47 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #1019 from dscharrer/master

Browse Source 
Fix singularity in quaternion to euler angle roll conversion #1019
This commit is contained in:
Christophe 2020-11-21 22:19:21 +01:00 committed by GitHub
commit b033c73b42
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
glm/gtc/quaternion.inl
View File

@ -15,7 +15,13 @@ namespace glm
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER T roll(qua<T, Q> const& q)
{
return static_cast<T>(atan(static_cast<T>(2) * (q.x * q.y + q.w * q.z), q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z));
T const y = static_cast<T>(2) * (q.x * q.y + q.w * q.z);
T const x = q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z;
if(all(equal(vec<2, T, Q>(x, y), vec<2, T, Q>(0), epsilon<T>()))) //avoid atan2(0,0) - handle singularity - Matiis
return static_cast<T>(0);
return static_cast<T>(atan(y, x));
}
template<typename T, qualifier Q>