getEuler has unreachable code

jakeBie · **Joined:** Wed May 30, 2007 12:36 am **Posts:** 3

When converting a 3x3 matrix to its Euler angles, I came across the following code in btMatrix3x3.h:

Code:

void getEuler(btScalar& yaw, btScalar& pitch, btScalar& roll) const
      {
         pitch = btScalar(btAsin(-m_el[2][0]));
         if (pitch < SIMD_2_PI)
         {
            if (pitch > SIMD_2_PI)
            {
               yaw = btScalar(btAtan2(m_el[1][0], m_el[0][0]));
               roll = btScalar(btAtan2(m_el[2][1], m_el[2][2]));
            }
            else 
            {
               yaw = btScalar(-btAtan2(-m_el[0][1], m_el[0][2]));
               roll = btScalar(0.0);
            }
         }
         else
         {
            yaw = btScalar(btAtan2(-m_el[0][1], m_el[0][2]));
            roll = btScalar(0.0);
         }
      }

The first if doesn't make sense- asin should never return a value higher than 2pi. The second if statement makes even less sense. How is it even possible to reach that code (only reachable if pitch < 2 pi and greater than 2 pi.

I am in need of this function and it seems to be returning incorrect values. Any insights?

[/code]

Erwin Coumans · **Posted:** Wed May 30, 2007 3:09 am

This was an un-used method and something must have gone wrong when porting the original code. This is the updated version, is checked into svn so should go into next version.

Can you check it?
Thanks for the feedback,
Erwin

Code:

   void getEuler(btScalar& yaw, btScalar& pitch, btScalar& roll) const
      {
         
         if (btScalar(m_el[1].z()) < btScalar(1))
         {
            if (btScalar(m_el[1].z()) > -btScalar(1))
            {
               yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
               pitch = btScalar(btAsin(-m_el[1].y()));
               roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
            }
            else 
            {
               yaw = btScalar(-btAtan2(-m_el[0].y(), m_el[0].z()));
               pitch = SIMD_HALF_PI;
               roll = btScalar(0.0);
            }
         }
         else
         {
            yaw = btScalar(btAtan2(-m_el[0].y(), m_el[0].z()));
            pitch = -SIMD_HALF_PI;
            roll = btScalar(0.0);
         }
      }
      

jakeBie · **Joined:** Wed May 30, 2007 12:36 am **Posts:** 3

Yeah it looks like it's working.

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getEuler has unreachable code

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