mirror of
https://github.com/ioquake/jedi-academy.git
synced 2024-11-29 07:22:23 +00:00
129 lines
2.6 KiB
C++
129 lines
2.6 KiB
C++
#include "q_shared.h"
|
|
#include <float.h>
|
|
|
|
angles_t ang_zero( 0.0f, 0.0f, 0.0f );
|
|
|
|
void toAngles( mat3_t &src, angles_t &dst ) {
|
|
double theta;
|
|
double cp;
|
|
double sp;
|
|
|
|
sp = src[ 0 ][ 2 ];
|
|
|
|
// cap off our sin value so that we don't get any NANs
|
|
if ( sp > 1.0 ) {
|
|
sp = 1.0;
|
|
} else if ( sp < -1.0 ) {
|
|
sp = -1.0;
|
|
}
|
|
|
|
theta = -asin( sp );
|
|
cp = cos( theta );
|
|
|
|
if ( cp > 8192 * FLT_EPSILON ) {
|
|
dst.pitch = theta * 180 / M_PI;
|
|
dst.yaw = atan2( src[ 0 ][ 1 ], src[ 0 ][ 0 ] ) * 180 / M_PI;
|
|
dst.roll = atan2( src[ 1 ][ 2 ], src[ 2 ][ 2 ] ) * 180 / M_PI;
|
|
} else {
|
|
dst.pitch = theta * 180 / M_PI;
|
|
dst.yaw = -atan2( src[ 1 ][ 0 ], src[ 1 ][ 1 ] ) * 180 / M_PI;
|
|
dst.roll = 0;
|
|
}
|
|
}
|
|
|
|
void toAngles( quat_t &src, angles_t &dst ) {
|
|
mat3_t temp;
|
|
|
|
toMatrix( src, temp );
|
|
toAngles( temp, dst );
|
|
}
|
|
|
|
void toAngles( idVec3_t &src, angles_t &dst ) {
|
|
dst.pitch = src[ 0 ];
|
|
dst.yaw = src[ 1 ];
|
|
dst.roll = src[ 2 ];
|
|
}
|
|
|
|
void angles_t::toVectors( idVec3_t *forward, idVec3_t *right, idVec3_t *up ) {
|
|
float angle;
|
|
static float sr, sp, sy, cr, cp, cy; // static to help MS compiler fp bugs
|
|
|
|
angle = yaw * ( M_PI * 2 / 360 );
|
|
sy = sin( angle );
|
|
cy = cos( angle );
|
|
|
|
angle = pitch * ( M_PI * 2 / 360 );
|
|
sp = sin( angle );
|
|
cp = cos( angle );
|
|
|
|
angle = roll * ( M_PI * 2 / 360 );
|
|
sr = sin( angle );
|
|
cr = cos( angle );
|
|
|
|
if ( forward ) {
|
|
forward->set( cp * cy, cp * sy, -sp );
|
|
}
|
|
|
|
if ( right ) {
|
|
right->set( -sr * sp * cy + cr * sy, -sr * sp * sy + -cr * cy, -sr * cp );
|
|
}
|
|
|
|
if ( up ) {
|
|
up->set( cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp );
|
|
}
|
|
}
|
|
|
|
idVec3_t angles_t::toForward( void ) {
|
|
float angle;
|
|
static float sp, sy, cp, cy; // static to help MS compiler fp bugs
|
|
|
|
angle = yaw * ( M_PI * 2 / 360 );
|
|
sy = sin( angle );
|
|
cy = cos( angle );
|
|
|
|
angle = pitch * ( M_PI * 2 / 360 );
|
|
sp = sin( angle );
|
|
cp = cos( angle );
|
|
|
|
return idVec3_t( cp * cy, cp * sy, -sp );
|
|
}
|
|
|
|
/*
|
|
=================
|
|
Normalize360
|
|
|
|
returns angles normalized to the range [0 <= angle < 360]
|
|
=================
|
|
*/
|
|
angles_t& angles_t::Normalize360( void ) {
|
|
pitch = (360.0 / 65536) * ( ( int )( pitch * ( 65536 / 360.0 ) ) & 65535 );
|
|
yaw = (360.0 / 65536) * ( ( int )( yaw * ( 65536 / 360.0 ) ) & 65535 );
|
|
roll = (360.0 / 65536) * ( ( int )( roll * ( 65536 / 360.0 ) ) & 65535 );
|
|
|
|
return *this;
|
|
}
|
|
|
|
|
|
/*
|
|
=================
|
|
Normalize180
|
|
|
|
returns angles normalized to the range [-180 < angle <= 180]
|
|
=================
|
|
*/
|
|
angles_t& angles_t::Normalize180( void ) {
|
|
Normalize360();
|
|
|
|
if ( pitch > 180.0 ) {
|
|
pitch -= 360.0;
|
|
}
|
|
|
|
if ( yaw > 180.0 ) {
|
|
yaw -= 360.0;
|
|
}
|
|
|
|
if ( roll > 180.0 ) {
|
|
roll -= 360.0;
|
|
}
|
|
return *this;
|
|
}
|