Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

better clamping to prevent gimbal lock? #459

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

better clamping to prevent gimbal lock? #459

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 7 additions & 5 deletions Graphics/Implicit/Definitions.hs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ where

import GHC.Generics (Generic)

import Prelude (Foldable, Num, Ord, Eq, atan2, asin, pi, (>=), signum, abs, (+), (-), RealFloat, (==), ($), flip, Semigroup((<>)), Monoid (mempty), Double, Either(Left, Right), Bool(True, False), (*), (/), fromIntegral, Float, realToFrac, (&&), RealFloat(isNaN), (||), any)
import Prelude (Foldable, Num, Ord, Eq, atan2, asin, (>=), abs, (+), (-), RealFloat, (==), ($), flip, Semigroup((<>)), Monoid (mempty), Double, Either(Left, Right), Bool(True, False), (*), (/), fromIntegral, Float, realToFrac, (&&), RealFloat(isNaN), (||), any, max, min, otherwise)

import Graphics.Implicit.FastIntUtil as F (Fastℕ(Fastℕ), fromFastℕ, toFastℕ)

Expand Down Expand Up @@ -420,12 +420,14 @@ quaternionToEuler (Quaternion w (V3 x y z))=
let sinr_cosp = 2 * (w * x + y * z)
cosr_cosp = 1 - 2 * (x * x + y * y)
sinp = 2 * (w * y - z * x);
-- A clamped sinp, for precision.
sinp_clamped = max (-1) (min 1 sinp)
pitch = asin sinp_clamped
roll
| abs sinp_clamped >= 1 = 0 -- handle gimble lock.
| otherwise = atan2 sinr_cosp cosr_cosp
siny_cosp = 2 * (w * z + x * y);
cosy_cosp = 1 - 2 * (y * y + z * z);
pitch = if abs sinp >= 1
then signum sinp * pi / 2
else asin sinp
roll = atan2 sinr_cosp cosr_cosp
yaw = atan2 siny_cosp cosy_cosp
in V3 roll pitch yaw

Expand Down