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fixed 'getEuler' method

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This commit is contained in:
ejcoumans
2007-05-30 03:07:39 +00:00
parent eca55afe4d
commit f1e929f8a4
1 changed files with 7 additions and 5 deletions
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12
src/LinearMath/btMatrix3x3.h
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@@ -207,30 +207,32 @@ class btMatrix3x3 {
q.setValue(temp[0],temp[1],temp[2],temp[3]); q.setValue(temp[0],temp[1],temp[2],temp[3]);
} }
void getEuler(btScalar& yaw, btScalar& pitch, btScalar& roll) const void getEuler(btScalar& yaw, btScalar& pitch, btScalar& roll) const
{ {
pitch = btScalar(btAsin(-m_el[2].x()));
if (pitch < SIMD_2_PI) if (btScalar(m_el[1].z()) < btScalar(1))
{ {
if (pitch > SIMD_2_PI) if (btScalar(m_el[1].z()) > -btScalar(1))
{ {
yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x())); yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
pitch = btScalar(btAsin(-m_el[1].y()));
roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z())); roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
} }
else else
{ {
yaw = btScalar(-btAtan2(-m_el[0].y(), m_el[0].z())); yaw = btScalar(-btAtan2(-m_el[0].y(), m_el[0].z()));
pitch = SIMD_HALF_PI;
roll = btScalar(0.0); roll = btScalar(0.0);
} }
} }
else else
{ {
yaw = btScalar(btAtan2(-m_el[0].y(), m_el[0].z())); yaw = btScalar(btAtan2(-m_el[0].y(), m_el[0].z()));
pitch = -SIMD_HALF_PI;
roll = btScalar(0.0); roll = btScalar(0.0);
} }
} }