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Fixed angle conversion issues

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Fixed a variable name and method that should be const.
Also fixed several angle conversion functions that didn't convert the
angle correct.
This commit is contained in:
Nathan Bowhay 2015-02-03 12:16:06 -08:00
parent c7e0d83587
commit ad267f0505
3 changed files with 43 additions and 28 deletions
Download patch file Download diff file Expand all files Collapse all files

2
Engine/source/math/mMatrix.cpp
View file

@ -163,7 +163,7 @@ EulerF MatrixF::toEuler() const
const F32 * mat = m; const F32 * mat = m;
EulerF r; EulerF r;
r.x = mAsin(mat[MatrixF::idx(2,1)]); r.x = mAsin(mClampF(mat[MatrixF::idx(2,1)], -1.0, 1.0));
if(mCos(r.x) != 0.f) if(mCos(r.x) != 0.f)
{ {

67
Engine/source/math/mQuat.cpp
View file

@ -32,33 +32,48 @@ const QuatF QuatF::Identity(0.0f,0.0f,0.0f,1.0f);
QuatF& QuatF::set( const EulerF & e ) QuatF& QuatF::set( const EulerF & e )
{ {
F32 cx, sx; /*
F32 cy, sy; F32 cx, sx;
F32 cz, sz; F32 cy, sy;
mSinCos( e.x * 0.5f, sx, cx ); F32 cz, sz;
mSinCos( e.y * 0.5f, sy, cy ); mSinCos( -e.x * 0.5f, sx, cx );
mSinCos( e.z * 0.5f, sz, cz ); mSinCos( -e.y * 0.5f, sy, cy );
mSinCos( -e.z * 0.5f, sz, cz );
// Qyaw(z) = [ (0, 0, sin z/2), cos z/2 ] // Qyaw(z) = [ (0, 0, sin z/2), cos z/2 ]
// Qpitch(x) = [ (sin x/2, 0, 0), cos x/2 ] // Qpitch(x) = [ (sin x/2, 0, 0), cos x/2 ]
// Qroll(y) = [ (0, sin y/2, 0), cos y/2 ] // Qroll(y) = [ (0, sin y/2, 0), cos y/2 ]
// this = Qresult = Qyaw*Qpitch*Qroll ZXY // this = Qresult = Qyaw*Qpitch*Qroll ZXY
// //
// The code that folows is a simplification of: // The code that folows is a simplification of:
// roll*=pitch; // roll*=pitch;
// roll*=yaw; // roll*=yaw;
// *this = roll; // *this = roll;
F32 cycz, sysz, sycz, cysz; F32 cycz, sysz, sycz, cysz;
cycz = cy*cz; cycz = cy*cz;
sysz = sy*sz; sysz = sy*sz;
sycz = sy*cz; sycz = sy*cz;
cysz = cy*sz; cysz = cy*sz;
w = cycz*cx - sysz*sx; w = cycz*cx + sysz*sx;
x = cycz*sx + sysz*cx; x = cycz*sx + sysz*cx;
y = sycz*cx + cysz*sx; y = sycz*cx - cysz*sx;
z = cysz*cx - sycz*sx; z = cysz*cx - sycz*sx;
*/
// Assuming the angles are in radians.
F32 c1 = mCos(e.y/2.0f);
F32 s1 = mSin(e.y/2.0f);
F32 c2 = mCos(e.z/2.0f);
F32 s2 = mSin(e.z/2.0f);
F32 c3 = mCos(e.x/2.0f);
F32 s3 = mSin(e.x/2.0f);
F32 c1c2 = c1*c2;
F32 s1s2 = s1*s2;
w =c1c2*c3 - s1s2*s3;
x =c1c2*s3 + s1s2*c3;
y =s1*c2*c3 + c1*s2*s3;
z =c1*s2*c3 - s1*c2*s3;
return *this; return *this;
} }
QuatF& QuatF::operator *=( const QuatF & b ) QuatF& QuatF::operator *=( const QuatF & b )
@ -289,7 +304,7 @@ QuatF & QuatF::interpolate( const QuatF & q1, const QuatF & q2, F32 t )
return *this; return *this;
} }
Point3F & QuatF::mulP(const Point3F& p, Point3F* r) Point3F & QuatF::mulP(const Point3F& p, Point3F* r) const
{ {
QuatF qq; QuatF qq;
QuatF qi = *this; QuatF qi = *this;

2
Engine/source/math/mQuat.h
View file

@ -81,7 +81,7 @@ public:
QuatF& interpolate( const QuatF & q1, const QuatF & q2, F32 t ); QuatF& interpolate( const QuatF & q1, const QuatF & q2, F32 t );
F32 angleBetween( const QuatF & q ); F32 angleBetween( const QuatF & q );
Point3F& mulP(const Point3F& a, Point3F* b); // r = p * this Point3F& mulP(const Point3F& a, Point3F* r) const; // r = p * this
QuatF& mul(const QuatF& a, const QuatF& b); // This = a * b QuatF& mul(const QuatF& a, const QuatF& b); // This = a * b
// Vectors passed in must be normalized // Vectors passed in must be normalized