131 lines
2.0 KiB
C++
131 lines
2.0 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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idRotation::ToAngles
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============
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*/
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idAngles idRotation::ToAngles( void ) const {
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return ToMat3().ToAngles();
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}
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/*
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============
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idRotation::ToQuat
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============
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*/
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idQuat idRotation::ToQuat( void ) const {
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float a, s, c;
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a = angle * ( idMath::M_DEG2RAD * 0.5f );
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idMath::SinCos( a, s, c );
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return idQuat( vec.x * s, vec.y * s, vec.z * s, c );
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}
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/*
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============
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idRotation::toMat3
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============
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*/
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const idMat3 &idRotation::ToMat3( void ) const {
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float wx, wy, wz;
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float xx, yy, yz;
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float xy, xz, zz;
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float x2, y2, z2;
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float a, c, s, x, y, z;
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if ( axisValid ) {
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return axis;
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}
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a = angle * ( idMath::M_DEG2RAD * 0.5f );
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idMath::SinCos( a, s, c );
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x = vec[0] * s;
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y = vec[1] * s;
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z = vec[2] * s;
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x2 = x + x;
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y2 = y + y;
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z2 = z + z;
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xx = x * x2;
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xy = x * y2;
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xz = x * z2;
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yy = y * y2;
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yz = y * z2;
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zz = z * z2;
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wx = c * x2;
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wy = c * y2;
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wz = c * z2;
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axis[ 0 ][ 0 ] = 1.0f - ( yy + zz );
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axis[ 0 ][ 1 ] = xy - wz;
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axis[ 0 ][ 2 ] = xz + wy;
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axis[ 1 ][ 0 ] = xy + wz;
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axis[ 1 ][ 1 ] = 1.0f - ( xx + zz );
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axis[ 1 ][ 2 ] = yz - wx;
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axis[ 2 ][ 0 ] = xz - wy;
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axis[ 2 ][ 1 ] = yz + wx;
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axis[ 2 ][ 2 ] = 1.0f - ( xx + yy );
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axisValid = true;
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return axis;
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}
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/*
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============
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idRotation::ToMat4
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============
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*/
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idMat4 idRotation::ToMat4( void ) const {
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return ToMat3().ToMat4();
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}
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/*
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============
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idRotation::ToAngularVelocity
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============
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*/
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idVec3 idRotation::ToAngularVelocity( void ) const {
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return vec * DEG2RAD( angle );
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}
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/*
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============
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idRotation::Normalize180
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============
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*/
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void idRotation::Normalize180( void ) {
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angle -= floor( angle / 360.0f ) * 360.0f;
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if ( angle > 180.0f ) {
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angle -= 360.0f;
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}
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else if ( angle < -180.0f ) {
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angle += 360.0f;
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}
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}
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/*
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============
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idRotation::Normalize360
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============
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*/
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void idRotation::Normalize360( void ) {
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angle -= floor( angle / 360.0f ) * 360.0f;
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if ( angle > 360.0f ) {
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angle -= 360.0f;
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}
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else if ( angle < 0.0f ) {
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angle += 360.0f;
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}
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}
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