diff options
| -rw-r--r-- | opentrack/simple-mat.cpp | 30 |
1 files changed, 14 insertions, 16 deletions
diff --git a/opentrack/simple-mat.cpp b/opentrack/simple-mat.cpp index b9273fc0..6a5421c1 100644 --- a/opentrack/simple-mat.cpp +++ b/opentrack/simple-mat.cpp @@ -43,22 +43,20 @@ rmat euler_to_rmat(const double* input) const auto c3 = cos(B); const auto s3 = sin(B); - double foo[] = { - // z - c1 * c2, - c1 * s2 * s3 - c3 * s1, - s1 * s3 + c1 * c3 * s2, - // y - c2 * s1, - c1 * c3 + s1 * s2 * s3, - c3 * s1 * s2 - c1 * s3, - // x - -s2, - c2 * s3, - c2 * c3 - }; - - return dmat<3, 3>(foo); + return dmat<3, 3>( + // z + c1 * c2, + c1 * s2 * s3 - c3 * s1, + s1 * s3 + c1 * c3 * s2, + // y + c2 * s1, + c1 * c3 + s1 * s2 * s3, + c3 * s1 * s2 - c1 * s3, + // x + -s2, + c2 * s3, + c2 * c3 + ); } } // end ns euler |