mirror of
https://github.com/blendogames/quadrilateralcowboy.git
synced 2024-11-24 21:11:49 +00:00
87 lines
2.6 KiB
C++
87 lines
2.6 KiB
C++
/*
|
|
===========================================================================
|
|
|
|
Doom 3 GPL Source Code
|
|
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
|
|
|
|
This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
|
|
|
|
Doom 3 Source Code is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Doom 3 Source Code is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
|
|
|
|
If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
|
|
|
|
===========================================================================
|
|
*/
|
|
|
|
#include "../precompiled.h"
|
|
#pragma hdrstop
|
|
|
|
|
|
/*
|
|
=============
|
|
idJointMat::ToJointQuat
|
|
=============
|
|
*/
|
|
idJointQuat idJointMat::ToJointQuat( void ) const {
|
|
idJointQuat jq;
|
|
float trace;
|
|
float s;
|
|
float t;
|
|
int i;
|
|
int j;
|
|
int k;
|
|
|
|
static int next[3] = { 1, 2, 0 };
|
|
|
|
trace = mat[0 * 4 + 0] + mat[1 * 4 + 1] + mat[2 * 4 + 2];
|
|
|
|
if ( trace > 0.0f ) {
|
|
|
|
t = trace + 1.0f;
|
|
s = idMath::InvSqrt( t ) * 0.5f;
|
|
|
|
jq.q[3] = s * t;
|
|
jq.q[0] = ( mat[1 * 4 + 2] - mat[2 * 4 + 1] ) * s;
|
|
jq.q[1] = ( mat[2 * 4 + 0] - mat[0 * 4 + 2] ) * s;
|
|
jq.q[2] = ( mat[0 * 4 + 1] - mat[1 * 4 + 0] ) * s;
|
|
|
|
} else {
|
|
|
|
i = 0;
|
|
if ( mat[1 * 4 + 1] > mat[0 * 4 + 0] ) {
|
|
i = 1;
|
|
}
|
|
if ( mat[2 * 4 + 2] > mat[i * 4 + i] ) {
|
|
i = 2;
|
|
}
|
|
j = next[i];
|
|
k = next[j];
|
|
|
|
t = ( mat[i * 4 + i] - ( mat[j * 4 + j] + mat[k * 4 + k] ) ) + 1.0f;
|
|
s = idMath::InvSqrt( t ) * 0.5f;
|
|
|
|
jq.q[i] = s * t;
|
|
jq.q[3] = ( mat[j * 4 + k] - mat[k * 4 + j] ) * s;
|
|
jq.q[j] = ( mat[i * 4 + j] + mat[j * 4 + i] ) * s;
|
|
jq.q[k] = ( mat[i * 4 + k] + mat[k * 4 + i] ) * s;
|
|
}
|
|
|
|
jq.t[0] = mat[0 * 4 + 3];
|
|
jq.t[1] = mat[1 * 4 + 3];
|
|
jq.t[2] = mat[2 * 4 + 3];
|
|
|
|
return jq;
|
|
}
|