Diff: quaternion.h

Revision:

8:92d4109beb3c

Parent:

4:8e016f874c42

--- a/quaternion.h	Mon Jul 29 16:55:47 2019 +0000
+++ b/quaternion.h	Tue Jul 30 16:44:07 2019 +0000
@@ -267,12 +267,12 @@
 	 * @param euler A 3-vector in order:  roll-pitch-yaw.
 	 */
 	void euler(const TVector3& euler) {
-		FloatType c1 = cos(euler[2] * 0.5);
-		FloatType c2 = cos(euler[1] * 0.5);
-		FloatType c3 = cos(euler[0] * 0.5);
-		FloatType s1 = sin(euler[2] * 0.5);
-		FloatType s2 = sin(euler[1] * 0.5);
-		FloatType s3 = sin(euler[0] * 0.5);
+		FloatType c1 = cos(euler[2] * 0.5f);
+		FloatType c2 = cos(euler[1] * 0.5f);
+		FloatType c3 = cos(euler[0] * 0.5f);
+		FloatType s1 = sin(euler[2] * 0.5f);
+		FloatType s2 = sin(euler[1] * 0.5f);
+		FloatType s3 = sin(euler[0] * 0.5f);
 
 		mData[0] = c1*c2*s3 - s1*s2*c3;
 		mData[1] = c1*s2*c3 + s1*c2*s3;
@@ -296,11 +296,11 @@
 		sqy = mData[1]*mData[1];
 		sqz = mData[2]*mData[2];
 
-		euler[1] = asin(2.0 * (mData[3]*mData[1] - mData[0]*mData[2]));
+		euler[1] = asin(2.0f * (mData[3]*mData[1] - mData[0]*mData[2]));
 		if (PI_OVER_2 - fabs(euler[1]) > EPSILON) {
-			euler[2] = atan2(2.0 * (mData[0]*mData[1] + mData[3]*mData[2]),
+			euler[2] = atan2(2.0f * (mData[0]*mData[1] + mData[3]*mData[2]),
 							 sqx - sqy - sqz + sqw);
-			euler[0] = atan2(2.0 * (mData[3]*mData[0] + mData[1]*mData[2]),
+			euler[0] = atan2(2.0f * (mData[3]*mData[0] + mData[1]*mData[2]),
 							 sqw - sqx - sqy + sqz);
 		} else {
 			// compute heading from local 'down' vector