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introduced euler angles

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matthias.ringwald 2010-06-13 22:28:25 +00:00
parent f290dcf1ff
commit e608d2e056
1 changed files with 2 additions and 1 deletions
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3
example/WiiMoteOpenGLDemo/rotation.c
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@ -174,6 +174,7 @@ void slerp(float v0[4], float v1[4], double t, float result[4]) {
void eulerFromQuaternion(float q[4], float euler[3]){
// heading, attitude, bank
float w2 = q[0]*q[0];
float x2 = q[1]*q[1];
float y2 = q[2]*q[2];
float z2 = q[3]*q[3];
@ -203,7 +204,7 @@ void eulerFromQuaternion(float q[4], float euler[3]){
} else {
euler[0] = atan2(2*q[2]*q[0]-2*q[1]*q[3], w2+x2-y2-z2);
euler[1] = asin(2*test/unit);
euler[2] = atan2(2*qx*qw-2*qy*qz , w2-x2+y2-z2);
euler[2] = atan2(2*q[1]*q[0]-2*q[2]*q[3] , w2-x2+y2-z2);
}
#endif
}