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Merge pull request #599 from Matiis/master
Quaternion pitch/eulerAngles singularity handling #599
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c8ddeea744
@ -574,7 +574,13 @@ namespace detail
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template<typename T, precision P>
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GLM_FUNC_QUALIFIER T pitch(tquat<T, P> const & q)
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{
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return T(atan(T(2) * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z));
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//return T(atan(T(2) * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z));
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const T y = T(2) * (q.y * q.z + q.w * q.x);
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const T x = q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z;
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if(y == T(0) && x == T(0)) //avoid atan2(0,0) - handle singularity - Matiis
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return T(T(2)*atan(q.x,q.w));
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return T(atan(y,x));
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}
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template<typename T, precision P>
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