inline Vector MakeEulerAnglesFromQ(Quaternion q)
{
- double r11, r21, r31, r32, r33, r12, r13;
+ double r11, r21, r31, r32, r33;
double q00, q11, q22, q33;
double tmp;
Vector u;
tmp = fabs(r31);
if(tmp > 0.999999)
{
- r12 = 2 * (q.v.x*q.v.y - q.n*q.v.z);
- r13 = 2 * (q.v.x*q.v.z + q.n*q.v.y);
+ double r12 = 2 * (q.v.x*q.v.y - q.n*q.v.z);
+ double r13 = 2 * (q.v.x*q.v.z + q.n*q.v.y);
u.x = RadiansToDegrees(0.0f); //roll
u.y = RadiansToDegrees((float) (-(pi/2) * r31/tmp)); // pitch