164 lines
4.1 KiB
C
164 lines
4.1 KiB
C
//-----------------------------------------------------------------------------
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//
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// $Logfile:: /Code/DLLs/game/q_mathsys.c $
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// $Revision:: 6 $
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// $Author:: Steven $
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// $Date:: 10/10/02 1:13p $
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//
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// Copyright (C) 2001 by Ritual Entertainment, Inc.
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// All rights reserved.
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//
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// This source may not be distributed and/or modified without
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// expressly written permission by Ritual Entertainment, Inc.
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//
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//
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// DESCRIPTION:
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#include "q_shared.h"
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#include "float.h"
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// these routines will be handled as system calls
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// for interpreted code to speed things up
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//#define X 0
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//#define Y 1
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//#define Z 2
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//#define W 3
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//#define QUAT_EPSILON 0.00001
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/*
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================
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MatrixMultiply
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================
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*/
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void MatrixMultiply( const float in1[3][3], const float in2[3][3], float out[3][3]) {
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out[0][0] = ( in1[0][0] * in2[0][0] ) + ( in1[0][1] * in2[1][0] ) +
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( in1[0][2] * in2[2][0] );
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out[0][1] = ( in1[0][0] * in2[0][1] ) + ( in1[0][1] * in2[1][1] ) +
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( in1[0][2] * in2[2][1] );
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out[0][2] = ( in1[0][0] * in2[0][2] ) + ( in1[0][1] * in2[1][2] ) +
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( in1[0][2] * in2[2][2] );
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out[1][0] = ( in1[1][0] * in2[0][0] ) + ( in1[1][1] * in2[1][0] ) +
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( in1[1][2] * in2[2][0] );
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out[1][1] = ( in1[1][0] * in2[0][1] ) + ( in1[1][1] * in2[1][1] ) +
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( in1[1][2] * in2[2][1] );
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out[1][2] = ( in1[1][0] * in2[0][2] ) + ( in1[1][1] * in2[1][2] ) +
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( in1[1][2] * in2[2][2] );
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out[2][0] = ( in1[2][0] * in2[0][0] ) + ( in1[2][1] * in2[1][0] ) +
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( in1[2][2] * in2[2][0] );
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out[2][1] = ( in1[2][0] * in2[0][1] ) + ( in1[2][1] * in2[1][1] ) +
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( in1[2][2] * in2[2][1] );
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out[2][2] = ( in1[2][0] * in2[0][2] ) + ( in1[2][1] * in2[1][2] ) +
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( in1[2][2] * in2[2][2] );
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}
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void AnglesToAxis( const vec3_t angles, vec3_t axis[3] ) {
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float angle;
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static float sr, sp, sy, cr, cp, cy;
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// static to help MS compiler fp bugs
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angle = angles[YAW] * ( M_PI * 2.0f / 360.0f );
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sy = sin(angle);
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cy = cos(angle);
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angle = angles[PITCH] * ( M_PI * 2.0f / 360.0f );
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sp = sin(angle);
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cp = cos(angle);
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angle = angles[ROLL] * ( M_PI * 2.0f / 360.0f );
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sr = sin(angle);
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cr = cos(angle);
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axis[0][0] = cp * cy;
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axis[0][1] = cp * sy;
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axis[0][2] = -sp;
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axis[1][0] = ( ( sr * sp * cy ) + ( cr * -sy ) );
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axis[1][1] = ( ( sr * sp * sy ) + ( cr * cy ) );
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axis[1][2] = sr * cp;
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axis[2][0] = ( ( cr * sp * cy ) + ( -sr * -sy ) );
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axis[2][1] = ( ( cr * sp * sy ) + ( -sr * cy ) );
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axis[2][2] = cr * cp;
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}
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void AxisToAngles( vec3_t axis[3], vec3_t angles ) {
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MatrixToEulerAngles( axis, angles );
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//vectoangles(axis[0], angles);
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}
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void AngleVectors( const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up) {
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float angle;
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static float sr, sp, sy, cr, cp, cy;
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// static to help MS compiler fp bugs
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angle = angles[YAW] * ( M_PI * 2.0f / 360.0f );
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sy = sin(angle);
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cy = cos(angle);
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angle = angles[PITCH] * ( M_PI * 2.0f / 360.0f );
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sp = sin(angle);
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cp = cos(angle);
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if (forward)
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{
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forward[0] = cp*cy;
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forward[1] = cp*sy;
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forward[2] = -sp;
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}
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if ( left || up )
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{
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angle = angles[ROLL] * ( M_PI * 2.0f / 360.0f );
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sr = sin(angle);
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cr = cos(angle);
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if (left)
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{
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left[0] = ( ( sr * sp * cy ) + ( cr * -sy ) );
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left[1] = ( ( sr * sp * sy ) + ( cr * cy ) );
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left[2] = sr * cp;
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}
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if (up)
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{
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up[0] = ( ( cr * sp * cy ) + ( -sr * -sy ) );
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up[1] = ( ( cr * sp * sy ) + ( -sr * cy ) );
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up[2] = cr * cp;
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}
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}
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}
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/*
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** assumes "src" is normalized
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*/
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void PerpendicularVector( vec3_t dst, const vec3_t src )
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{
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int pos;
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int i;
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float minelem = 1.0F;
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vec3_t tempvec;
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/*
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** find the smallest magnitude axially aligned vector
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*/
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for ( pos = 0, i = 0; i < 3; i++ )
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{
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if ( fabs( src[i] ) < minelem )
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{
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pos = i;
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minelem = fabs( src[i] );
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}
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}
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tempvec[0] = tempvec[1] = tempvec[2] = 0.0F;
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tempvec[pos] = 1.0F;
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/*
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** project the point onto the plane defined by src
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*/
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ProjectPointOnPlane( dst, tempvec, src );
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/*
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** normalize the result
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*/
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VectorNormalize( dst );
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}
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