61 lines
1.1 KiB
C++
61 lines
1.1 KiB
C++
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#include "../precompiled.h"
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#pragma hdrstop
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/*
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=============
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idJointMat::ToJointQuat
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=============
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*/
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idJointQuat idJointMat::ToJointQuat( void ) const {
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idJointQuat jq;
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float trace;
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float s;
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float t;
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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 = mat[0 * 4 + 0] + mat[1 * 4 + 1] + mat[2 * 4 + 2];
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if ( trace > 0.0f ) {
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t = trace + 1.0f;
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s = idMath::InvSqrt( t ) * 0.5f;
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jq.q[3] = s * t;
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jq.q[0] = ( mat[1 * 4 + 2] - mat[2 * 4 + 1] ) * s;
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jq.q[1] = ( mat[2 * 4 + 0] - mat[0 * 4 + 2] ) * s;
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jq.q[2] = ( mat[0 * 4 + 1] - mat[1 * 4 + 0] ) * s;
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} else {
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i = 0;
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if ( mat[1 * 4 + 1] > mat[0 * 4 + 0] ) {
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i = 1;
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}
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if ( mat[2 * 4 + 2] > mat[i * 4 + 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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t = ( mat[i * 4 + i] - ( mat[j * 4 + j] + mat[k * 4 + k] ) ) + 1.0f;
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s = idMath::InvSqrt( t ) * 0.5f;
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jq.q[i] = s * t;
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jq.q[3] = ( mat[j * 4 + k] - mat[k * 4 + j] ) * s;
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jq.q[j] = ( mat[i * 4 + j] + mat[j * 4 + i] ) * s;
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jq.q[k] = ( mat[i * 4 + k] + mat[k * 4 + i] ) * s;
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}
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jq.t[0] = mat[0 * 4 + 3];
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jq.t[1] = mat[1 * 4 + 3];
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jq.t[2] = mat[2 * 4 + 3];
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return jq;
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}
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