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Fix quaternion.to_euler_rotation

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This commit is contained in:
Lars Mueller
2021-04-01 01:04:59 +02:00
parent 3bc15ad685
commit 1af60101f2
1 changed files with 4 additions and 4 deletions
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8
quaternion.lua
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@ -84,16 +84,16 @@ function to_euler_rotation(self)
local sinp = 2 * (self[4] * self[2] - self[3] * self[1])
if sinp <= -1 then
rotation.z = -math.pi/2
rotation.y = -math.pi/2
elseif sinp >= 1 then
rotation.z = math.pi/2
rotation.y = math.pi/2
else
rotation.z = math.asin(sinp)
rotation.y = math.asin(sinp)
end
local siny_cosp = 2 * (self[4] * self[3] + self[1] * self[2])
local cosy_cosp = 1 - 2 * (self[2] ^ 2 + self[3] ^ 2)
rotation.y = math.atan2(siny_cosp, cosy_cosp)
rotation.z = math.atan2(siny_cosp, cosy_cosp)
return vector.apply(rotation, math.deg)
end