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hello world
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Timothee 'TTimo' Besset
240
neo/idlib/math/Angles.cpp
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240
neo/idlib/math/Angles.cpp
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/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
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Doom 3 Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code is distributed in the hope that it will be useful,
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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 Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 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 Source Code. If not, please request a copy in writing from id Software at the address below.
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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.
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===========================================================================
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*/
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#include "../precompiled.h"
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#pragma hdrstop
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#include <float.h>
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idAngles ang_zero( 0.0f, 0.0f, 0.0f );
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/*
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=================
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idAngles::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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idAngles& idAngles::Normalize360( void ) {
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int i;
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for ( i = 0; i < 3; i++ ) {
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if ( ( (*this)[i] >= 360.0f ) || ( (*this)[i] < 0.0f ) ) {
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(*this)[i] -= floor( (*this)[i] / 360.0f ) * 360.0f;
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if ( (*this)[i] >= 360.0f ) {
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(*this)[i] -= 360.0f;
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}
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if ( (*this)[i] < 0.0f ) {
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(*this)[i] += 360.0f;
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}
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}
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}
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return *this;
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}
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/*
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=================
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idAngles::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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idAngles& idAngles::Normalize180( void ) {
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Normalize360();
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if ( pitch > 180.0f ) {
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pitch -= 360.0f;
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}
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if ( yaw > 180.0f ) {
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yaw -= 360.0f;
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}
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if ( roll > 180.0f ) {
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roll -= 360.0f;
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}
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return *this;
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}
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/*
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=================
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idAngles::ToVectors
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=================
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*/
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void idAngles::ToVectors( idVec3 *forward, idVec3 *right, idVec3 *up ) const {
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float sr, sp, sy, cr, cp, cy;
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idMath::SinCos( DEG2RAD( yaw ), sy, cy );
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idMath::SinCos( DEG2RAD( pitch ), sp, cp );
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idMath::SinCos( DEG2RAD( roll ), sr, cr );
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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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/*
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=================
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idAngles::ToForward
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=================
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*/
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idVec3 idAngles::ToForward( void ) const {
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float sp, sy, cp, cy;
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idMath::SinCos( DEG2RAD( yaw ), sy, cy );
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idMath::SinCos( DEG2RAD( pitch ), sp, cp );
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return idVec3( cp * cy, cp * sy, -sp );
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}
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/*
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=================
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idAngles::ToQuat
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=================
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*/
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idQuat idAngles::ToQuat( void ) const {
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float sx, cx, sy, cy, sz, cz;
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float sxcy, cxcy, sxsy, cxsy;
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idMath::SinCos( DEG2RAD( yaw ) * 0.5f, sz, cz );
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idMath::SinCos( DEG2RAD( pitch ) * 0.5f, sy, cy );
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idMath::SinCos( DEG2RAD( roll ) * 0.5f, sx, cx );
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sxcy = sx * cy;
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cxcy = cx * cy;
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sxsy = sx * sy;
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cxsy = cx * sy;
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return idQuat( cxsy*sz - sxcy*cz, -cxsy*cz - sxcy*sz, sxsy*cz - cxcy*sz, cxcy*cz + sxsy*sz );
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}
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/*
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=================
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idAngles::ToRotation
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=================
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*/
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idRotation idAngles::ToRotation( void ) const {
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idVec3 vec;
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float angle, w;
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float sx, cx, sy, cy, sz, cz;
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float sxcy, cxcy, sxsy, cxsy;
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if ( pitch == 0.0f ) {
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if ( yaw == 0.0f ) {
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return idRotation( vec3_origin, idVec3( -1.0f, 0.0f, 0.0f ), roll );
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}
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if ( roll == 0.0f ) {
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return idRotation( vec3_origin, idVec3( 0.0f, 0.0f, -1.0f ), yaw );
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}
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} else if ( yaw == 0.0f && roll == 0.0f ) {
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return idRotation( vec3_origin, idVec3( 0.0f, -1.0f, 0.0f ), pitch );
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}
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idMath::SinCos( DEG2RAD( yaw ) * 0.5f, sz, cz );
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idMath::SinCos( DEG2RAD( pitch ) * 0.5f, sy, cy );
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idMath::SinCos( DEG2RAD( roll ) * 0.5f, sx, cx );
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sxcy = sx * cy;
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cxcy = cx * cy;
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sxsy = sx * sy;
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cxsy = cx * sy;
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vec.x = cxsy * sz - sxcy * cz;
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vec.y = -cxsy * cz - sxcy * sz;
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vec.z = sxsy * cz - cxcy * sz;
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w = cxcy * cz + sxsy * sz;
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angle = idMath::ACos( w );
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if ( angle == 0.0f ) {
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vec.Set( 0.0f, 0.0f, 1.0f );
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} else {
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//vec *= (1.0f / sin( angle ));
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vec.Normalize();
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vec.FixDegenerateNormal();
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angle *= 2.0f * idMath::M_RAD2DEG;
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}
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return idRotation( vec3_origin, vec, angle );
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}
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/*
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=================
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idAngles::ToMat3
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=================
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*/
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idMat3 idAngles::ToMat3( void ) const {
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idMat3 mat;
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float sr, sp, sy, cr, cp, cy;
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idMath::SinCos( DEG2RAD( yaw ), sy, cy );
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idMath::SinCos( DEG2RAD( pitch ), sp, cp );
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idMath::SinCos( DEG2RAD( roll ), sr, cr );
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mat[ 0 ].Set( cp * cy, cp * sy, -sp );
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mat[ 1 ].Set( sr * sp * cy + cr * -sy, sr * sp * sy + cr * cy, sr * cp );
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mat[ 2 ].Set( cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp );
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return mat;
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}
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/*
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=================
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idAngles::ToMat4
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=================
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*/
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idMat4 idAngles::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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idAngles::ToAngularVelocity
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=================
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*/
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idVec3 idAngles::ToAngularVelocity( void ) const {
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idRotation rotation = idAngles::ToRotation();
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return rotation.GetVec() * DEG2RAD( rotation.GetAngle() );
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}
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/*
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=============
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idAngles::ToString
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=============
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*/
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const char *idAngles::ToString( int precision ) const {
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return idStr::FloatArrayToString( ToFloatPtr(), GetDimension(), precision );
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}
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