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good grief! more problems with set_from_matrix().

This commit is contained in:
David Rose 2001-05-24 16:00:59 +00:00
parent 811dbe5dd5
commit c6907aa5a6
1 changed files with 14 additions and 13 deletions
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27
panda/src/linmath/lquaternion_src.cxx
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@ -158,12 +158,13 @@ set_from_matrix(const FLOATNAME(LMatrix3) &m) {
FLOATTYPE m21 = m(2, 1);
FLOATTYPE m22 = m(2, 2);
FLOATTYPE T = m00 + m11 + m22 + 1.0f;
FLOATTYPE T = m00 + m11 + m22;
if (T > 0.0f) {
// The easy case.
FLOATTYPE S = 0.5 / csqrt(T);
_v.data[0] = 0.25 / S;
FLOATTYPE S = csqrt(T + 1.0f);
_v.data[0] = S * 0.5f;
S = 0.5f / S;
_v.data[1] = (m21 - m12) * S;
_v.data[2] = (m02 - m20) * S;
_v.data[3] = (m10 - m01) * S;
@ -181,7 +182,7 @@ set_from_matrix(const FLOATNAME(LMatrix3) &m) {
// whose actual value--not absolute value--is greater than those
// of the other two.
// We already know that m00 + m11 + m22 <= -1 (because we are here
// We already know that m00 + m11 + m22 <= 0 (because we are here
// in the harder case).
if (m00 > m11 && m00 > m22) {
@ -191,9 +192,9 @@ set_from_matrix(const FLOATNAME(LMatrix3) &m) {
S = csqrt(S);
_v.data[1] = S * 0.5f;
S = 0.5f / S;
_v.data[2] = (m01 + m10) * S;
_v.data[3] = (m02 + m20) * S;
_v.data[0] = (m12 - m21) * S;
_v.data[2] = (m10 + m01) * S;
_v.data[3] = (m20 + m02) * S;
_v.data[0] = (m21 - m12) * S;
} else if (m11 > m22) {
// m11 is larger than m00 and m22.
@ -202,9 +203,9 @@ set_from_matrix(const FLOATNAME(LMatrix3) &m) {
S = csqrt(S);
_v.data[2] = S * 0.5f;
S = 0.5f / S;
_v.data[3] = (m12 + m21) * S;
_v.data[1] = (m10 + m01) * S;
_v.data[0] = (m20 - m02) * S;
_v.data[3] = (m21 + m12) * S;
_v.data[1] = (m01 + m10) * S;
_v.data[0] = (m02 - m20) * S;
} else {
// m22 is larger than m00 and m11.
@ -213,9 +214,9 @@ set_from_matrix(const FLOATNAME(LMatrix3) &m) {
S = csqrt(S);
_v.data[3] = S * 0.5f;
S = 0.5f / S;
_v.data[1] = (m20 + m02) * S;
_v.data[2] = (m21 + m12) * S;
_v.data[0] = (m01 - m10) * S;
_v.data[1] = (m02 + m20) * S;
_v.data[2] = (m12 + m21) * S;
_v.data[0] = (m10 - m01) * S;
}
}
}