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Test conversion from view matrix to yaw pitch roll.

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This commit is contained in:
yunfeibai
2017-06-02 16:56:05 -07:00
parent f350a506a6
commit 3506603d60
5 changed files with 29 additions and 9 deletions
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11
src/Bullet3Common/b3Quaternion.h
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@@ -887,6 +887,16 @@ b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
B3_FORCE_INLINE b3Quaternion
b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
{
/*
b3Quaternion q;
b3Vector3 a = v0.cross(v1);
q[0] = a[0];
q[1] = a[1];
q[2] = a[2];
q[3] = b3Sqrt((v0.length()*v0.length()) * (v1.length()*v1.length())) + v0.dot(v1);
return q;
*/
b3Vector3 c = v0.cross(v1);
b3Scalar d = v0.dot(v1);
@@ -901,6 +911,7 @@ b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming
b3Scalar rs = 1.0f / s;
return b3Quaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
}
B3_FORCE_INLINE b3Quaternion