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Fix incorrect workaround for pure Y (X) rotations in XYZ (YXZ) convention. 

Fixes #10352.
This commit is contained in:
Ferenc Arn 2017-08-18 01:29:30 -04:00
parent 3a4ff3402d
commit 94aa4092f5
1 changed files with 4 additions and 13 deletions
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17
core/math/matrix3.cpp
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@ -365,14 +365,10 @@ Vector3 Basis::get_euler_xyz() const {
if (euler.y < Math_PI * 0.5) {
if (euler.y > -Math_PI * 0.5) {
//if rotation is Y-only, return a proper -pi,pi range like in x or z for the same case.
if (elements[1][0] == 0.0 && elements[0][1] == 0.0 && elements[0][0] < 0.0) {
if (elements[1][0] == 0.0 && elements[0][1] == 0.0 && elements[1][2] == 0 && elements[2][1] == 0 && elements[1][1] == 1) {
euler.x = 0;
euler.y = atan2(elements[0][2], elements[0][0]);
euler.z = 0;
if (euler.y > 0.0)
euler.y = Math_PI - euler.y;
else
euler.y = -(Math_PI + euler.y);
} else {
euler.x = Math::atan2(-elements[1][2], elements[2][2]);
euler.z = Math::atan2(-elements[0][1], elements[0][0]);
@ -436,15 +432,10 @@ Vector3 Basis::get_euler_yxz() const {
if (m12 < 1) {
if (m12 > -1) {
if (elements[1][0] == 0 && elements[0][1] == 0 && elements[2][2] < 0) { // use pure x rotation
real_t x = asin(-m12);
if (elements[1][0] == 0 && elements[0][1] == 0 && elements[0][2] == 0 && elements[2][0] == 0 && elements[0][0] == 1) { // use pure x rotation
euler.x = atan2(-m12, elements[1][1]);
euler.y = 0;
euler.z = 0;
if (x > 0.0)
euler.x = Math_PI - x;
else
euler.x = -(Math_PI + x);
} else {
euler.x = asin(-m12);
euler.y = atan2(elements[0][2], elements[2][2]);