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Fix uninitialized read in rpyFromMatrix

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The computation of `rpy(1)` tries to take the sin of `rpy(0)` (which is only
initialized a line later).
This commit is contained in:
Raphael Isemann
2022-04-02 00:55:14 +02:00
parent e306b274f1
commit 772dcf57ff
1 changed files with 1 additions and 1 deletions
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2
src/BulletInverseDynamics/IDMath.cpp
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@@ -503,8 +503,8 @@ vec3 rpyFromMatrix(const mat33 &rot)
{
vec3 rpy;
rpy(2) = BT_ID_ATAN2(-rot(1, 0), rot(0, 0));
rpy(1) = BT_ID_ATAN2(rot(2, 0), BT_ID_COS(rpy(2)) * rot(0, 0) - BT_ID_SIN(rpy(0)) * rot(1, 0));
rpy(0) = BT_ID_ATAN2(-rot(2, 0), rot(2, 2));
rpy(1) = BT_ID_ATAN2(rot(2, 0), BT_ID_COS(rpy(2)) * rot(0, 0) - BT_ID_SIN(rpy(0)) * rot(1, 0));
return rpy;
}
} // namespace btInverseDynamics