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Fixed stupid bug in euler().

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This commit is contained in:
Chris Palmer
2022-02-01 23:24:14 +00:00
parent 30955eb350
commit e696dc4718
1 changed files with 3 additions and 3 deletions
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6
utils/maths.scad
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@@ -103,11 +103,11 @@ 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
// https://www.gregslabaugh.net/publications/euler.pdf
// 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.
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]), 180, 0]
: [atan2(-R[0][1], -R[0][2]), -180, 0];
: R[2][0] < 0 ? [atan2( R[0][1], R[0][2]), 90, 0]
: [atan2(-R[0][1], -R[0][2]), -90, 0];
module position_children(list, t) //! Position children if they are on the Z = 0 plane when transformed by t
for(p = list)