diff options
Diffstat (limited to 'source/blender/ikplugin')
-rw-r--r-- | source/blender/ikplugin/intern/itasc_plugin.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/source/blender/ikplugin/intern/itasc_plugin.cpp b/source/blender/ikplugin/intern/itasc_plugin.cpp index f605441282b..e427ec6bd5e 100644 --- a/source/blender/ikplugin/intern/itasc_plugin.cpp +++ b/source/blender/ikplugin/intern/itasc_plugin.cpp @@ -477,7 +477,7 @@ static void GetEulerXZY(const KDL::Rotation& R, double& X,double& Z,double& Y) if (fabs(R(0,1)) > 1.0 - KDL::epsilon ) { X = -KDL::sign(R(0,1)) * KDL::atan2(R(1,2), R(1,0)); Z = -KDL::sign(R(0,1)) * KDL::PI / 2; - Y = 0.0 ; + Y = 0.0; } else { X = KDL::atan2(R(2,1), R(1,1)); Z = KDL::atan2(-R(0,1), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,2)))); @@ -490,7 +490,7 @@ static void GetEulerXYZ(const KDL::Rotation& R, double& X,double& Y,double& Z) if (fabs(R(0,2)) > 1.0 - KDL::epsilon ) { X = KDL::sign(R(0,2)) * KDL::atan2(-R(1,0), R(1,1)); Y = KDL::sign(R(0,2)) * KDL::PI / 2; - Z = 0.0 ; + Z = 0.0; } else { X = KDL::atan2(-R(1,2), R(2,2)); Y = KDL::atan2(R(0,2), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,1)))); |