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Simplify the llRot2Euler equations.

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We save a few multiplications by dividing both atan2 arguments by 2.
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Sei Lisa 2017-01-23 16:41:56 +01:00
parent 6ac02854aa
commit 250438dfe9
1 changed files with 4 additions and 4 deletions
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8
lslopt/lslbasefuncs.py
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@ -1584,14 +1584,14 @@ def llRot2Euler(r):
# Check gimbal lock conditions # Check gimbal lock conditions
if abs(y) > 0.99999: if abs(y) > 0.99999:
return Vector(F32((0., math.asin(y), math.atan2(2.*(r[2]*r[3]+r[0]*r[1]), return Vector(F32((0., math.asin(y), math.atan2(r[2]*r[3]+r[0]*r[1],
1.-2.*(r[0]*r[0]+r[2]*r[2]))))) .5-(r[0]*r[0]+r[2]*r[2])))))
qy2 = r[1]*r[1] qy2 = r[1]*r[1]
return Vector(F32(( return Vector(F32((
math.atan2(2.*(r[0]*r[3]-r[1]*r[2]), 1.-2.*(r[0]*r[0]+qy2)), math.atan2(r[0]*r[3]-r[1]*r[2], .5-(r[0]*r[0]+qy2)),
math.asin(y), math.asin(y),
math.atan2(2.*(r[2]*r[3]-r[0]*r[1]), 1.-2.*(r[2]*r[2]+qy2)) math.atan2(r[2]*r[3]-r[0]*r[1], .5-(r[2]*r[2]+qy2))
))) )))
def llRot2Fwd(r): def llRot2Fwd(r):