mirror of
https://github.com/TTimo/GtkRadiant.git
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81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
/*
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This code is based on source provided under the terms of the Id Software
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LIMITED USE SOFTWARE LICENSE AGREEMENT, a copy of which is included with the
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GtkRadiant sources (see LICENSE_ID). If you did not receive a copy of
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LICENSE_ID, please contact Id Software immediately at info@idsoftware.com.
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All changes and additions to the original source which have been developed by
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other contributors (see CONTRIBUTORS) are provided under the terms of the
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license the contributors choose (see LICENSE), to the extent permitted by the
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LICENSE_ID. If you did not receive a copy of the contributor license,
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please contact the GtkRadiant maintainers at info@gtkradiant.com immediately.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "math_quaternion.h"
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#include "math_matrix.h"
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void toQuat( idVec3 &src, quat_t &dst ) {
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dst.x = src.x;
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dst.y = src.y;
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dst.z = src.z;
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dst.w = 0.0f;
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}
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void toQuat( angles_t &src, quat_t &dst ) {
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mat3_t temp;
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toMatrix( src, temp );
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toQuat( temp, dst );
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}
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void toQuat( mat3_t &src, quat_t &dst ) {
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float trace;
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float s;
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int i;
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int j;
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int k;
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static int next[ 3 ] = { 1, 2, 0 };
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trace = src[ 0 ][ 0 ] + src[ 1 ][ 1 ] + src[ 2 ][ 2 ];
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if ( trace > 0.0f ) {
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s = ( float )sqrt( trace + 1.0f );
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dst.w = s * 0.5f;
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s = 0.5f / s;
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dst.x = ( src[ 2 ][ 1 ] - src[ 1 ][ 2 ] ) * s;
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dst.y = ( src[ 0 ][ 2 ] - src[ 2 ][ 0 ] ) * s;
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dst.z = ( src[ 1 ][ 0 ] - src[ 0 ][ 1 ] ) * s;
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} else {
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i = 0;
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if ( src[ 1 ][ 1 ] > src[ 0 ][ 0 ] ) {
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i = 1;
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}
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if ( src[ 2 ][ 2 ] > src[ i ][ i ] ) {
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i = 2;
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}
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j = next[ i ];
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k = next[ j ];
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s = ( float )sqrt( ( src[ i ][ i ] - ( src[ j ][ j ] + src[ k ][ k ] ) ) + 1.0f );
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dst[ i ] = s * 0.5f;
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s = 0.5f / s;
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dst.w = ( src[ k ][ j ] - src[ j ][ k ] ) * s;
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dst[ j ] = ( src[ j ][ i ] + src[ i ][ j ] ) * s;
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dst[ k ] = ( src[ k ][ i ] + src[ i ][ k ] ) * s;
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}
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}
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