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