Merge branch 'main' into main

kooparse · Mar 5, 2024 · 5b26d16 · 5b26d16
2 parents f6aa18f + 68e7722
commit 5b26d16
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Showing 3 changed files with 6 additions and 8 deletions.
diff --git a/src/mat3.zig b/src/mat3.zig
@@ -176,12 +176,12 @@ pub fn Mat3x3(comptime T: type) type {
         pub fn extractEulerAngles(self: Self) Vector3 {
             const m = self.orthoNormalize();
 
-            const theta_x = math.atan2(T, m.data[1][2], m.data[2][2]);
+            const theta_x = math.atan2(m.data[1][2], m.data[2][2]);
             const c2 = @sqrt(math.pow(T, m.data[0][0], 2) + math.pow(T, m.data[0][1], 2));
-            const theta_y = math.atan2(T, -m.data[0][2], @sqrt(c2));
+            const theta_y = math.atan2(-m.data[0][2], @sqrt(c2));
             const s1 = @sin(theta_x);
             const c1 = @cos(theta_x);
-            const theta_z = math.atan2(T, s1 * m.data[2][0] - c1 * m.data[1][0], c1 * m.data[1][1] - s1 * m.data[2][1]);
+            const theta_z = math.atan2(s1 * m.data[2][0] - c1 * m.data[1][0], c1 * m.data[1][1] - s1 * m.data[2][1]);
 
             return Vector3.new(root.toDegrees(theta_x), root.toDegrees(theta_y), root.toDegrees(theta_z));
         }

diff --git a/src/mat4.zig b/src/mat4.zig
@@ -206,12 +206,12 @@ pub fn Mat4x4(comptime T: type) type {
         pub fn extractEulerAngles(self: Self) Vector3 {
             const m = self.orthoNormalize();
 
-            const theta_x = math.atan2(T, m.data[1][2], m.data[2][2]);
+            const theta_x = math.atan2(m.data[1][2], m.data[2][2]);
             const c2 = @sqrt(math.pow(T, m.data[0][0], 2) + math.pow(T, m.data[0][1], 2));
-            const theta_y = math.atan2(T, -m.data[0][2], @sqrt(c2));
+            const theta_y = math.atan2(-m.data[0][2], @sqrt(c2));
             const s1 = @sin(theta_x);
             const c1 = @cos(theta_x);
-            const theta_z = math.atan2(T, s1 * m.data[2][0] - c1 * m.data[1][0], c1 * m.data[1][1] - s1 * m.data[2][1]);
+            const theta_z = math.atan2(s1 * m.data[2][0] - c1 * m.data[1][0], c1 * m.data[1][1] - s1 * m.data[2][1]);
 
             return Vector3.new(root.toDegrees(theta_x), root.toDegrees(theta_y), root.toDegrees(theta_z));
         }

diff --git a/src/quaternion.zig b/src/quaternion.zig
@@ -251,15 +251,13 @@ pub fn Quaternion(comptime T: type) type {
         /// Extract euler angles (degrees) from quaternion.
         pub fn extractEulerAngles(self: Self) Vector3 {
             const yaw = math.atan2(
-                T,
                 2 * (self.y * self.z + self.w * self.x),
                 self.w * self.w - self.x * self.x - self.y * self.y + self.z * self.z,
             );
             const pitch = math.asin(
                 -2 * (self.x * self.z - self.w * self.y),
             );
             const roll = math.atan2(
-                T,
                 2 * (self.x * self.y + self.w * self.z),
                 self.w * self.w + self.x * self.x - self.y * self.y - self.z * self.z,
             );