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Normalize decomposed transform axes to extract rotation correctly #21

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Normalize decomposed transform axes to extract rotation correctly #21

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19 changes: 12 additions & 7 deletions StarEngine/src/StarEngine/Math/Math.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,13 +41,18 @@ namespace StarEngine::Math
for (length_t j = 0; j < 3; ++j)
Row[i][j] = LocalMatrix[i][j];

// Compute X scale factor and normalize first row.
scale.x = length(Row[0]);
Row[0] = detail::scale(Row[0], static_cast<T>(1));
scale.y = length(Row[1]);
Row[1] = detail::scale(Row[1], static_cast<T>(1));
scale.z = length(Row[2]);
Row[2] = detail::scale(Row[2], static_cast<T>(1));
// Compute X scale factor and normalize first row.
scale.x = length(Row[0]);
if (scale.x != static_cast<T>(0))
Row[0] = detail::scale(Row[0], static_cast<T>(1) / scale.x);

scale.y = length(Row[1]);
if (scale.y != static_cast<T>(0))
Row[1] = detail::scale(Row[1], static_cast<T>(1) / scale.y);

scale.z = length(Row[2]);
if (scale.z != static_cast<T>(0))
Row[2] = detail::scale(Row[2], static_cast<T>(1) / scale.z);

// At this point, the matrix (in rows[]) is orthonormal.
// Check for a coordinate system flip. If the determinant
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