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Merge pull request #4228 from Teemperor/FixUninitRead

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Fix uninitialized read in rpyFromMatrix
This commit is contained in:
erwincoumans
2022-04-14 21:55:52 -07:00
committed by GitHub
parent 31aeeadb2d 772dcf57ff
commit cd771af26f
1 changed files with 1 additions and 1 deletions
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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