diff options
Diffstat (limited to 'intern/moto/include/MT_Matrix3x3.h')
| -rw-r--r-- | intern/moto/include/MT_Matrix3x3.h | 20 |
1 files changed, 20 insertions, 0 deletions
diff --git a/intern/moto/include/MT_Matrix3x3.h b/intern/moto/include/MT_Matrix3x3.h index 3197103a267..899a2731588 100644 --- a/intern/moto/include/MT_Matrix3x3.h +++ b/intern/moto/include/MT_Matrix3x3.h @@ -144,6 +144,26 @@ public: -sj, cj * si, cj * ci); } + void getEuler(MT_Scalar& yaw, MT_Scalar& pitch, MT_Scalar& roll) const + { + if (m_el[2][0] != -1.0 && m_el[2][0] != 1.0) { + pitch = MT_Scalar(-asin(m_el[2][0])); + yaw = MT_Scalar(atan2(m_el[2][1] / cos(pitch), m_el[2][2] / cos(pitch))); + roll = MT_Scalar(atan2(m_el[1][0] / cos(pitch), m_el[0][0] / cos(pitch))); + } + else { + roll = MT_Scalar(0); + if (m_el[2][0] == -1.0) { + pitch = MT_PI / 2.0; + yaw = MT_Scalar(atan2(m_el[0][1], m_el[0][2])); + } + else { + pitch = - MT_PI / 2.0; + yaw = MT_Scalar(atan2(m_el[0][1], m_el[0][2])); + } + } + } + void scale(MT_Scalar x, MT_Scalar y, MT_Scalar z) { m_el[0][0] *= x; m_el[0][1] *= y; m_el[0][2] *= z; m_el[1][0] *= x; m_el[1][1] *= y; m_el[1][2] *= z; |