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final fix to euler angles transformation

This commit is contained in:
Massimiliano Corsini 2007-03-08 14:39:27 +00:00
parent 0aa6e033da
commit 488287610f
1 changed files with 9 additions and 6 deletions
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15
vcg/math/matrix44.h
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@ -24,6 +24,9 @@
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$Log: not supported by cvs2svn $ $Log: not supported by cvs2svn $
Revision 1.31 2007/02/06 09:57:40 corsini
fix euler angles computation
Revision 1.30 2007/02/05 14:16:33 corsini Revision 1.30 2007/02/05 14:16:33 corsini
add from euler angles to rotation matrix conversion add from euler angles to rotation matrix conversion
@ -452,15 +455,15 @@ void Matrix44<T>::FromEulerAngles(T alpha, T beta, T gamma)
T singamma = sin(gamma); T singamma = sin(gamma);
ElementAt(0,0) = cosbeta * cosgamma; ElementAt(0,0) = cosbeta * cosgamma;
ElementAt(0,1) = -cosalpha * singamma + sinalpha * sinbeta * cosgamma; ElementAt(1,0) = -cosalpha * singamma + sinalpha * sinbeta * cosgamma;
ElementAt(0,2) = sinalpha * singamma + cosalpha * sinbeta * cosgamma; ElementAt(2,0) = sinalpha * singamma + cosalpha * sinbeta * cosgamma;
ElementAt(1,0) = cosbeta * singamma; ElementAt(0,1) = cosbeta * singamma;
ElementAt(1,1) = cosalpha * cosgamma + sinalpha * sinbeta * singamma; ElementAt(1,1) = cosalpha * cosgamma + sinalpha * sinbeta * singamma;
ElementAt(1,2) = -sinalpha * cosgamma + cosalpha * sinbeta * singamma; ElementAt(2,1) = -sinalpha * cosgamma + cosalpha * sinbeta * singamma;
ElementAt(2,0) = -sinbeta; ElementAt(0,2) = -sinbeta;
ElementAt(2,1) = sinalpha * cosbeta; ElementAt(1,2) = sinalpha * cosbeta;
ElementAt(2,2) = cosalpha * cosbeta; ElementAt(2,2) = cosalpha * cosbeta;
ElementAt(3,3) = 1; ElementAt(3,3) = 1;