mirror of
https://github.com/id-Software/DOOM-3-BFG.git
synced 2026-03-20 09:00:25 +01:00
Initial commit
This commit is contained in:
Brian Harris
307
neo/idlib/math/Quat.cpp
Normal file
307
neo/idlib/math/Quat.cpp
Normal file
@@ -0,0 +1,307 @@
|
||||
/*
|
||||
===========================================================================
|
||||
|
||||
Doom 3 BFG Edition GPL Source Code
|
||||
Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company.
|
||||
|
||||
This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code").
|
||||
|
||||
Doom 3 BFG Edition Source Code is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
Doom 3 BFG Edition Source Code is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Doom 3 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
In addition, the Doom 3 BFG Edition Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 BFG Edition Source Code. If not, please request a copy in writing from id Software at the address below.
|
||||
|
||||
If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
|
||||
|
||||
===========================================================================
|
||||
*/
|
||||
|
||||
#pragma hdrstop
|
||||
#include "../precompiled.h"
|
||||
|
||||
/*
|
||||
=====================
|
||||
idQuat::ToAngles
|
||||
=====================
|
||||
*/
|
||||
idAngles idQuat::ToAngles() const {
|
||||
return ToMat3().ToAngles();
|
||||
}
|
||||
|
||||
/*
|
||||
=====================
|
||||
idQuat::ToRotation
|
||||
=====================
|
||||
*/
|
||||
idRotation idQuat::ToRotation() const {
|
||||
idVec3 vec;
|
||||
float angle;
|
||||
|
||||
vec.x = x;
|
||||
vec.y = y;
|
||||
vec.z = z;
|
||||
angle = idMath::ACos( w );
|
||||
if ( angle == 0.0f ) {
|
||||
vec.Set( 0.0f, 0.0f, 1.0f );
|
||||
} else {
|
||||
//vec *= (1.0f / sin( angle ));
|
||||
vec.Normalize();
|
||||
vec.FixDegenerateNormal();
|
||||
angle *= 2.0f * idMath::M_RAD2DEG;
|
||||
}
|
||||
return idRotation( vec3_origin, vec, angle );
|
||||
}
|
||||
|
||||
/*
|
||||
=====================
|
||||
idQuat::ToMat3
|
||||
=====================
|
||||
*/
|
||||
idMat3 idQuat::ToMat3() const {
|
||||
idMat3 mat;
|
||||
float wx, wy, wz;
|
||||
float xx, yy, yz;
|
||||
float xy, xz, zz;
|
||||
float x2, y2, z2;
|
||||
|
||||
x2 = x + x;
|
||||
y2 = y + y;
|
||||
z2 = z + z;
|
||||
|
||||
xx = x * x2;
|
||||
xy = x * y2;
|
||||
xz = x * z2;
|
||||
|
||||
yy = y * y2;
|
||||
yz = y * z2;
|
||||
zz = z * z2;
|
||||
|
||||
wx = w * x2;
|
||||
wy = w * y2;
|
||||
wz = w * z2;
|
||||
|
||||
mat[ 0 ][ 0 ] = 1.0f - ( yy + zz );
|
||||
mat[ 0 ][ 1 ] = xy - wz;
|
||||
mat[ 0 ][ 2 ] = xz + wy;
|
||||
|
||||
mat[ 1 ][ 0 ] = xy + wz;
|
||||
mat[ 1 ][ 1 ] = 1.0f - ( xx + zz );
|
||||
mat[ 1 ][ 2 ] = yz - wx;
|
||||
|
||||
mat[ 2 ][ 0 ] = xz - wy;
|
||||
mat[ 2 ][ 1 ] = yz + wx;
|
||||
mat[ 2 ][ 2 ] = 1.0f - ( xx + yy );
|
||||
|
||||
return mat;
|
||||
}
|
||||
|
||||
/*
|
||||
=====================
|
||||
idQuat::ToMat4
|
||||
=====================
|
||||
*/
|
||||
idMat4 idQuat::ToMat4() const {
|
||||
return ToMat3().ToMat4();
|
||||
}
|
||||
|
||||
/*
|
||||
=====================
|
||||
idQuat::ToCQuat
|
||||
=====================
|
||||
*/
|
||||
idCQuat idQuat::ToCQuat() const {
|
||||
if ( w < 0.0f ) {
|
||||
return idCQuat( -x, -y, -z );
|
||||
}
|
||||
return idCQuat( x, y, z );
|
||||
}
|
||||
|
||||
/*
|
||||
============
|
||||
idQuat::ToAngularVelocity
|
||||
============
|
||||
*/
|
||||
idVec3 idQuat::ToAngularVelocity() const {
|
||||
idVec3 vec;
|
||||
|
||||
vec.x = x;
|
||||
vec.y = y;
|
||||
vec.z = z;
|
||||
vec.Normalize();
|
||||
return vec * idMath::ACos( w );
|
||||
}
|
||||
|
||||
/*
|
||||
=============
|
||||
idQuat::ToString
|
||||
=============
|
||||
*/
|
||||
const char *idQuat::ToString( int precision ) const {
|
||||
return idStr::FloatArrayToString( ToFloatPtr(), GetDimension(), precision );
|
||||
}
|
||||
|
||||
/*
|
||||
=====================
|
||||
idQuat::Slerp
|
||||
|
||||
Spherical linear interpolation between two quaternions.
|
||||
=====================
|
||||
*/
|
||||
idQuat &idQuat::Slerp( const idQuat &from, const idQuat &to, float t ) {
|
||||
idQuat temp;
|
||||
float omega, cosom, sinom, scale0, scale1;
|
||||
|
||||
if ( t <= 0.0f ) {
|
||||
*this = from;
|
||||
return *this;
|
||||
}
|
||||
|
||||
if ( t >= 1.0f ) {
|
||||
*this = to;
|
||||
return *this;
|
||||
}
|
||||
|
||||
if ( from == to ) {
|
||||
*this = to;
|
||||
return *this;
|
||||
}
|
||||
|
||||
cosom = from.x * to.x + from.y * to.y + from.z * to.z + from.w * to.w;
|
||||
if ( cosom < 0.0f ) {
|
||||
temp = -to;
|
||||
cosom = -cosom;
|
||||
} else {
|
||||
temp = to;
|
||||
}
|
||||
|
||||
if ( ( 1.0f - cosom ) > 1e-6f ) {
|
||||
#if 0
|
||||
omega = acos( cosom );
|
||||
sinom = 1.0f / sin( omega );
|
||||
scale0 = sin( ( 1.0f - t ) * omega ) * sinom;
|
||||
scale1 = sin( t * omega ) * sinom;
|
||||
#else
|
||||
scale0 = 1.0f - cosom * cosom;
|
||||
sinom = idMath::InvSqrt( scale0 );
|
||||
omega = idMath::ATan16( scale0 * sinom, cosom );
|
||||
scale0 = idMath::Sin16( ( 1.0f - t ) * omega ) * sinom;
|
||||
scale1 = idMath::Sin16( t * omega ) * sinom;
|
||||
#endif
|
||||
} else {
|
||||
scale0 = 1.0f - t;
|
||||
scale1 = t;
|
||||
}
|
||||
|
||||
*this = ( scale0 * from ) + ( scale1 * temp );
|
||||
return *this;
|
||||
}
|
||||
|
||||
/*
|
||||
========================
|
||||
idQuat::Lerp
|
||||
|
||||
Approximation of spherical linear interpolation between two quaternions. The interpolation
|
||||
traces out the exact same curve as Slerp but does not maintain a constant speed across the arc.
|
||||
========================
|
||||
*/
|
||||
idQuat &idQuat::Lerp( const idQuat &from, const idQuat &to, const float t ) {
|
||||
if ( t <= 0.0f ) {
|
||||
*this = from;
|
||||
return *this;
|
||||
}
|
||||
|
||||
if ( t >= 1.0f ) {
|
||||
*this = to;
|
||||
return *this;
|
||||
}
|
||||
|
||||
if ( from == to ) {
|
||||
*this = to;
|
||||
return *this;
|
||||
}
|
||||
|
||||
float cosom = from.x * to.x + from.y * to.y + from.z * to.z + from.w * to.w;
|
||||
|
||||
float scale0 = 1.0f - t;
|
||||
float scale1 = ( cosom >= 0.0f ) ? t : -t;
|
||||
|
||||
x = scale0 * from.x + scale1 * to.x;
|
||||
y = scale0 * from.y + scale1 * to.y;
|
||||
z = scale0 * from.z + scale1 * to.z;
|
||||
w = scale0 * from.w + scale1 * to.w;
|
||||
|
||||
float s = idMath::InvSqrt( x * x + y * y + z * z + w * w );
|
||||
|
||||
x *= s;
|
||||
y *= s;
|
||||
z *= s;
|
||||
w *= s;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
/*
|
||||
=============
|
||||
idCQuat::ToAngles
|
||||
=============
|
||||
*/
|
||||
idAngles idCQuat::ToAngles() const {
|
||||
return ToQuat().ToAngles();
|
||||
}
|
||||
|
||||
/*
|
||||
=============
|
||||
idCQuat::ToRotation
|
||||
=============
|
||||
*/
|
||||
idRotation idCQuat::ToRotation() const {
|
||||
return ToQuat().ToRotation();
|
||||
}
|
||||
|
||||
/*
|
||||
=============
|
||||
idCQuat::ToMat3
|
||||
=============
|
||||
*/
|
||||
idMat3 idCQuat::ToMat3() const {
|
||||
return ToQuat().ToMat3();
|
||||
}
|
||||
|
||||
/*
|
||||
=============
|
||||
idCQuat::ToMat4
|
||||
=============
|
||||
*/
|
||||
idMat4 idCQuat::ToMat4() const {
|
||||
return ToQuat().ToMat4();
|
||||
}
|
||||
|
||||
/*
|
||||
=============
|
||||
idCQuat::ToString
|
||||
=============
|
||||
*/
|
||||
const char *idCQuat::ToString( int precision ) const {
|
||||
return idStr::FloatArrayToString( ToFloatPtr(), GetDimension(), precision );
|
||||
}
|
||||
|
||||
/*
|
||||
=====================
|
||||
Slerp
|
||||
|
||||
Spherical linear interpolation between two quaternions.
|
||||
=====================
|
||||
*/
|
||||
idQuat Slerp( const idQuat & from, const idQuat & to, const float t ) {
|
||||
return idQuat().Slerp( from, to, t );
|
||||
}
|
||||
Reference in New Issue
Block a user