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Fix singularity in quaternion to euler angle roll conversion

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Daniel Scharrer 2020-06-24 23:32:48 +02:00
parent 23e0701c04
commit dfdeb9b284
1 changed files with 7 additions and 1 deletions
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8
glm/gtc/quaternion.inl
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@ -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>