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79 lines
2.1 KiB
C++
79 lines
2.1 KiB
C++
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/*
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===========================================================================
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Copyright (C) 1999-2005 Id Software, Inc.
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This file is part of Quake III Arena source code.
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Quake III Arena source code is free software; you can redistribute it
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and/or modify it under the terms of the GNU General Public License as
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published by the Free Software Foundation; either version 2 of the License,
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or (at your option) any later version.
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Quake III Arena source code is distributed in the hope that it will be
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useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Foobar; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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===========================================================================
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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_t &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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