From: <sv...@ww...> - 2007-03-27 20:04:56
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Author: mkrose Date: 2007-03-27 13:04:48 -0700 (Tue, 27 Mar 2007) New Revision: 2065 Modified: trunk/csp/csplib/data/Quat.cpp Log: Fix bug in euler to quat transformation. Browse at: https://www.zerobar.net/viewcvs/viewcvs.cgi?view=rev&rev=2065 Modified: trunk/csp/csplib/data/Quat.cpp =================================================================== --- trunk/csp/csplib/data/Quat.cpp 2007-03-25 08:38:03 UTC (rev 2064) +++ trunk/csp/csplib/data/Quat.cpp 2007-03-27 20:04:48 UTC (rev 2065) @@ -168,7 +168,7 @@ double ch2 = cos(0.5*yaw); _x = sh0 * ch1 * ch2 - ch0 * sh1 * sh2; _y = ch0 * sh1 * ch2 + sh0 * ch1 * sh2; - _z = ch0 * ch1 * sh2 - sh0 * sh1 * sh2; + _z = ch0 * ch1 * sh2 - sh0 * sh1 * ch2; _w = ch0 * ch1 * ch2 + sh0 * sh1 * sh2; } |