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more fixes

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more unit tests revealed more discrepancies fixes applied.
This commit is contained in:
marauder2k7 2024-07-30 08:30:42 +01:00
parent a5de2d9add
commit d03851958d
2 changed files with 189 additions and 16 deletions
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22
Engine/source/math/mMatrix.h
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@ -700,9 +700,7 @@ public:
///< M * a -> M
Matrix<DATA_TYPE, rows, cols>& mul(const Matrix<DATA_TYPE, rows, cols>& a)
{
*this = *this * a; return *this;
}
{ return *this = *this * a; }
///< a * M -> M
Matrix<DATA_TYPE, rows, cols>& mulL(const Matrix<DATA_TYPE, rows, cols>& a)
{ return *this = a * *this; }
@ -711,7 +709,7 @@ public:
{ return *this = a * b; }
///< M * a -> M
Matrix<DATA_TYPE, rows, cols>& mul(const F32 a)
{ return *this * a; }
{ return *this = *this * a; }
///< a * b -> M
Matrix<DATA_TYPE, rows, cols>& mul(const Matrix<DATA_TYPE, rows, cols>& a, const F32 b)
{ return *this = a * b; }
@ -1634,28 +1632,20 @@ template<typename DATA_TYPE, U32 rows, U32 cols>
inline EulerF Matrix<DATA_TYPE, rows, cols>::toEuler() const
{
AssertFatal(rows >= 3 && cols >= 3, "Euler rotations require at least a 3x3 matrix.");
// Extract rotation matrix components
const DATA_TYPE m00 = (*this)(0, 0);
const DATA_TYPE m01 = (*this)(0, 1);
const DATA_TYPE m02 = (*this)(0, 2);
const DATA_TYPE m10 = (*this)(1, 0);
const DATA_TYPE m11 = (*this)(1, 1);
const DATA_TYPE m21 = (*this)(2, 1);
const DATA_TYPE m22 = (*this)(2, 2);
// like all others assume float for now.
EulerF r;
r.x = mAsin(mClampF(m21, -1.0, 1.0));
r.x = mAsin(mClampF((*this)(1,2), -1.0, 1.0));
if (mCos(r.x) != 0.0f)
{
r.y = mAtan2(-m02, m22); // yaw
r.z = mAtan2(-m10, m11); // roll
r.y = mAtan2(-(*this)(0, 2), (*this)(2, 2)); // yaw
r.z = mAtan2(-(*this)(1, 0), (*this)(1, 1)); // roll
}
else
{
r.y = 0.0f;
r.z = mAtan2(m01, m00); // this rolls when pitch is +90 degrees
r.z = mAtan2((*this)(0, 1), (*this)(0, 0)); // this rolls when pitch is +90 degrees
}
return r;