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→Tait–Bryan angles: correct the Greek phi from Cyrillic ef |
→Source code: re-organized the ToQuaternion function to follow normal conventions. The original function parameters was ordered Z-Y-X. I changed it to be ordered to X-Y-Z. |
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Line 165:
};
Quaternion ToQuaternion(double
{
// Abbreviations for the various angular functions
double cy = cos(yaw * 0.5);▼
double sy = sin(yaw * 0.5);▼
double cp = cos(pitch * 0.5);▼
double sp = sin(pitch * 0.5);▼
double cr = cos(roll * 0.5);
double sr = sin(roll * 0.5);
▲ double cp = cos(pitch * 0.5);
▲ double sp = sin(pitch * 0.5);
▲ double cy = cos(yaw * 0.5);
▲ double sy = sin(yaw * 0.5);
Quaternion q;
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