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Quaternion pitch/eulerAngles singularity handling

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Handling of singularity when using pitch or eulerAngles on quaternions like (0.5,0.5,-0.5,0.5)
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Matiis 2017-01-06 23:07:03 +01:00 committed by GitHub
parent 9134d7904a
commit c9d38fabe6
1 changed files with 7 additions and 1 deletions
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8
glm/gtc/quaternion.inl
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@ -574,7 +574,13 @@ namespace detail
template<typename T, precision P>
GLM_FUNC_QUALIFIER T pitch(tquat<T, P> const & q)
{
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));
//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));
const T y = T(2) * (q.y * q.z + q.w * q.x);
const T x = q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z;
if(y == T(0) && x == T(0)) //avoid atan2(0,0) - handle singularity - Matiis
return T(T(2)*atan(q.x,q.w));
return T(atan(y,x));
}
template<typename T, precision P>