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Fixed euler angles calculation for the singular case

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Enrico Turri 2019-01-04 14:53:01 +01:00
parent 2ce308693f
commit 94becf120b
1 changed files with 2 additions and 2 deletions
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4
src/libslic3r/Geometry.cpp
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@ -1194,9 +1194,9 @@ Vec3d extract_euler_angles(const Eigen::Matrix<double, 3, 3, Eigen::DontAlign>&
}
else
{
angles(0) = ::atan2(-rotation_matrix(1, 2), rotation_matrix(1, 1));
angles(1) = 0.0;
angles(1) = ::atan2(-rotation_matrix(2, 0), sy);
angles(2) = 0.0;
angles(2) = (angles(1) >-0.0) ? ::atan2(rotation_matrix(1, 2), rotation_matrix(1, 1)) : ::atan2(-rotation_matrix(1, 2), rotation_matrix(1, 1));
}
return angles;