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[bot] Match MatrixToQuaternion

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This commit is contained in:
RD42 2024-06-02 22:16:54 +08:00
parent 2d0918379d
commit 7714efcbee
1 changed files with 15 additions and 13 deletions
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28
bot/mathutils.cpp
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@ -6,7 +6,7 @@
#endif
#ifndef MAX
#define MAX(x, y) ((x) < (y) ? (y) : (x))
#define MAX(x, y) ((y) < (x) ? (x) : (y))
#endif
//----------------------------------------------------
@ -34,21 +34,23 @@ void MatrixToQuaternion(float m00, float m01, float m02,
float m20, float m21, float m22,
float &qw, float &qx, float &qy, float &qz)
{
float tw = sqrt(MAX(m00 + 1.0f + m11 + m22, 0.0f)) / 2.0f;
float tx = sqrt(MAX(m00 + 1.0f - m11 - m22, 0.0f)) / 2.0f;
float ty = sqrt(MAX(1.0f - m00 + m11 - m22, 0.0f)) / 2.0f;
float tz = sqrt(MAX(1.0f - m00 - m11 + m22, 0.0f)) / 2.0f;
double w, x, y, z;
if(tw < 0.0f) tw = 0.0f;
if(tx < 0.0f) tx = 0.0f;
if(ty < 0.0f) ty = 0.0f;
if(tz < 0.0f) tz = 0.0f;
w = sqrt(MAX(0.0f, 1.0f + m00 + m11 + m22)) / 2.0f;
x = sqrt(MAX(0.0f, 1.0f + m00 - m11 - m22)) / 2.0f;
y = sqrt(MAX(0.0f, 1.0f - m00 + m11 - m22)) / 2.0f;
z = sqrt(MAX(0.0f, 1.0f - m00 - m11 + m22)) / 2.0f;
float x = (float)copysign(tx, m21 - m12);
float y = (float)copysign(ty, m02 - m20);
float z = (float)copysign(tz, m10 - m01);
if(w < 0.0f) w = 0.0f;
if(x < 0.0f) x = 0.0f;
if(y < 0.0f) y = 0.0f;
if(z < 0.0f) z = 0.0f;
qw = tw;
x = copysign(x, m21 - m12);
y = copysign(y, m02 - m20);
z = copysign(z, m10 - m01);
qw = w;
qx = x;
qy = y;
qz = z;