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Fix formatting

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gingerBill
2020-03-30 12:38:09 +01:00
parent dd13cf637e
commit d3c2191cf7
1 changed files with 15 additions and 15 deletions
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30
core/math/linalg/specific.odin
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@@ -203,24 +203,24 @@ quaternion_from_euler_angles :: proc(roll, pitch, yaw: Float) -> Quaternion {
euler_angles_from_quaternion :: proc(q: Quaternion) -> (roll, pitch, yaw: Float) {
// roll, x-axis rotation
sinr_cosp: Float = 2 * (q.w * q.x + q.y * q.z);
cosr_cosp: Float = 1 - 2 * (q.x * q.x + q.y * q.y);
roll = math.atan2(sinr_cosp, cosr_cosp);
sinr_cosp: Float = 2 * (q.w * q.x + q.y * q.z);
cosr_cosp: Float = 1 - 2 * (q.x * q.x + q.y * q.y);
roll = math.atan2(sinr_cosp, cosr_cosp);
// pitch, y-axis rotation
sinp: Float = 2 * (q.w * q.y - q.z * q.x);
if abs(sinp) >= 1 {
pitch = math.copy_sign(math.TAU * 0.25, sinp);
} else {
pitch = 2 * math.asin(sinp);
}
// pitch, y-axis rotation
sinp: Float = 2 * (q.w * q.y - q.z * q.x);
if abs(sinp) >= 1 {
pitch = math.copy_sign(math.TAU * 0.25, sinp);
} else {
pitch = 2 * math.asin(sinp);
}
// yaw, z-axis rotation
siny_cosp: Float = 2 * (q.w * q.z + q.x * q.y);
cosy_cosp: Float = 1 - 2 * (q.y * q.y + q.z * q.z);
yaw = math.atan2(siny_cosp, cosy_cosp);
// yaw, z-axis rotation
siny_cosp: Float = 2 * (q.w * q.z + q.x * q.y);
cosy_cosp: Float = 1 - 2 * (q.y * q.y + q.z * q.z);
yaw = math.atan2(siny_cosp, cosy_cosp);
return;
return;
}
quaternion_from_forward_and_up :: proc(forward, up: Vector3) -> Quaternion {