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now the maybe not perfect quartenions caused trouble in math_QuaternionToEuler

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Franz Roters 2011-03-03 14:23:39 +00:00
parent e7c7ccdcdd
commit 2975c99144
1 changed files with 4 additions and 1 deletions
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code/math.f90
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@ -1604,7 +1604,10 @@ pure function math_transpose3x3(A)
math_QuaternionToEuler(2) = acos(1.0_pReal-2.0_pReal*(Q(2)*Q(2)+Q(3)*Q(3)))
if (abs(math_QuaternionToEuler(2)) < 1.0e-3_pReal) then
math_QuaternionToEuler(1) = 2.0_pReal*acos(Q(1))
acos_arg=Q(1)
if(acos_arg > 1.0_pReal)acos_arg = 1.0_pReal
if(acos_arg < -1.0_pReal)acos_arg = -1.0_pReal
math_QuaternionToEuler(1) = 2.0_pReal*acos(acos_arg)
math_QuaternionToEuler(3) = 0.0_pReal
else
math_QuaternionToEuler(1) = atan2(Q(1)*Q(3)+Q(2)*Q(4), Q(1)*Q(2)-Q(3)*Q(4))