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Typo in comment fixed.

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Chris 2023-07-22 19:32:42 +01:00
parent 3c370359c8
commit 09d2ffb126
2 changed files with 2 additions and 2 deletions
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readme.md
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@ -6907,7 +6907,7 @@ Maths utilities for manipulating vectors and matrices.
| `coth(x)` | hyperbolic cotangent |
| `cubic_real_roots(a, b, c, d)` | Returns real roots of cubic equation |
| `degrees(radians)` | Convert degrees to radians |
| `euler(R)` | Convert a rotation matrix to a Euler rotation vector. |
| `euler(R)` | Convert a rotation matrix to an Euler rotation vector. |
| `identity(n, x = 1)` | Construct an arbitrary size identity matrix |
| `invert(m)` | Invert a matrix |
| `map(v, func)` | make a new vector where the func function argument is applied to each element of the vector v |

2
utils/maths.scad
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@ -104,7 +104,7 @@ function reverse(v) = let(n = len(v) - 1) n < 0 ? [] : [for(i = [0 : n]) v[n - i
function angle_between(v1, v2) = acos(v1 * v2 / (norm(v1) * norm(v2))); //! Return the angle between two vectors
// http://eecs.qmul.ac.uk/~gslabaugh/publications/euler.pdf
function euler(R) = let(ay = asin(-R[2][0]), cy = cos(ay)) //! Convert a rotation matrix to a Euler rotation vector.
function euler(R) = let(ay = asin(-R[2][0]), cy = cos(ay)) //! Convert a rotation matrix to an Euler rotation vector.
cy ? [ atan2(R[2][1] / cy, R[2][2] / cy), ay, atan2(R[1][0] / cy, R[0][0] / cy) ]
: R[2][0] < 0 ? [atan2( R[0][1], R[0][2]), 90, 0]
: [atan2(-R[0][1], -R[0][2]), -90, 0];