csp-commits

[<mk...@us...>]

Update of /cvsroot/csp/APPLICATIONS/SimData/Source
In directory sc8-pr-cvs1:/tmp/cvs-serv31224/Source

Modified Files:
	Quat.cpp 
Log Message:


Index: Quat.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/SimData/Source/Quat.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** Quat.cpp	6 Aug 2003 06:36:25 -0000	1.1
--- Quat.cpp	6 Aug 2003 07:52:41 -0000	1.2
***************
*** 184,194 ****
  }
  
! void Quat::getEulerAngles(double &roll, double &pitch, double &yaw) {
! 	roll = atan2(2.0*(_y*_z + _w*_x), _w*_w-_x*_x-_y*_y+_z*_z);
! 	pitch = asin(-2.0*(_x*_z - _w*_y));
! 	yaw = atan2(2.0*(_x*_y + _w*_z), _w*_w+_x*_x-_y*_y-_z*_z);
  }
      
- 
  void Quat::getRotate(double& angle, Vector3& vec) const {
  	getRotate(angle, vec.x(), vec.y(), vec.z());
--- 184,204 ----
  }
  
! void Quat::getEulerAngles(double &roll, double &pitch, double &yaw) const {
! 	double x2 = _x*_x;
! 	double y2 = _y*_y;
! 	double z2 = _z*_z;
! 	double w2 = _w*_w;
! 	double sin_theta = 2.0 * (_w*_y - _x*_z);
! 	if (fabs(sin_theta) > 0.99999) {
! 		roll = 0.0;
! 		pitch = asin(sin_theta);
! 		yaw = atan2(2.0*(_w*_z - _x*_y), w2-x2+y2-z2);
! 	} else {
! 		roll = atan2(2.0*(_y*_z + _w*_x), w2-x2-y2+z2);
! 		pitch = asin(sin_theta);
! 		yaw = atan2(2.0*(_x*_y + _w*_z), w2+x2-y2-z2);
! 	}
  }
      
  void Quat::getRotate(double& angle, Vector3& vec) const {
  	getRotate(angle, vec.x(), vec.y(), vec.z());