hello world

neo/idlib/math/Rotation.h

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+/*
+===========================================================================
+
+Doom 3 GPL Source Code
+Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company. 
+
+This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).  
+
+Doom 3 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 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 Source Code.  If not, see <http://www.gnu.org/licenses/>.
+
+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.
+
+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.
+
+===========================================================================
+*/
+
+#ifndef __MATH_ROTATION_H__
+#define __MATH_ROTATION_H__
+
+/*
+===============================================================================
+
+	Describes a complete rotation in degrees about an abritray axis.
+	A local rotation matrix is stored for fast rotation of multiple points.
+
+===============================================================================
+*/
+
+
+class idAngles;
+class idQuat;
+class idMat3;
+
+class idRotation {
+
+	friend class idAngles;
+	friend class idQuat;
+	friend class idMat3;
+
+public:
+						idRotation( void );
+						idRotation( const idVec3 &rotationOrigin, const idVec3 &rotationVec, const float rotationAngle );
+
+	void				Set( const idVec3 &rotationOrigin, const idVec3 &rotationVec, const float rotationAngle );
+	void				SetOrigin( const idVec3 &rotationOrigin );
+	void				SetVec( const idVec3 &rotationVec );					// has to be normalized
+	void				SetVec( const float x, const float y, const float z );	// has to be normalized
+	void				SetAngle( const float rotationAngle );
+	void				Scale( const float s );
+	void				ReCalculateMatrix( void );
+	const idVec3 &		GetOrigin( void ) const;
+	const idVec3 &		GetVec( void ) const;
+	float				GetAngle( void ) const;
+
+	idRotation			operator-() const;										// flips rotation
+	idRotation			operator*( const float s ) const;						// scale rotation
+	idRotation			operator/( const float s ) const;						// scale rotation
+	idRotation &		operator*=( const float s );							// scale rotation
+	idRotation &		operator/=( const float s );							// scale rotation
+	idVec3				operator*( const idVec3 &v ) const;						// rotate vector
+
+	friend idRotation	operator*( const float s, const idRotation &r );		// scale rotation
+	friend idVec3		operator*( const idVec3 &v, const idRotation &r );		// rotate vector
+	friend idVec3 &		operator*=( idVec3 &v, const idRotation &r );			// rotate vector
+
+	idAngles			ToAngles( void ) const;
+	idQuat				ToQuat( void ) const;
+	const idMat3 &		ToMat3( void ) const;
+	idMat4				ToMat4( void ) const;
+	idVec3				ToAngularVelocity( void ) const;
+
+	void				RotatePoint( idVec3 &point ) const;
+
+	void				Normalize180( void );
+	void				Normalize360( void );
+
+private:
+	idVec3				origin;			// origin of rotation
+	idVec3				vec;			// normalized vector to rotate around
+	float				angle;			// angle of rotation in degrees
+	mutable idMat3		axis;			// rotation axis
+	mutable bool		axisValid;		// true if rotation axis is valid
+};
+
+
+ID_INLINE idRotation::idRotation( void ) {
+}
+
+ID_INLINE idRotation::idRotation( const idVec3 &rotationOrigin, const idVec3 &rotationVec, const float rotationAngle ) {
+	origin = rotationOrigin;
+	vec = rotationVec;
+	angle = rotationAngle;
+	axisValid = false;
+}
+
+ID_INLINE void idRotation::Set( const idVec3 &rotationOrigin, const idVec3 &rotationVec, const float rotationAngle ) {
+	origin = rotationOrigin;
+	vec = rotationVec;
+	angle = rotationAngle;
+	axisValid = false;
+}
+
+ID_INLINE void idRotation::SetOrigin( const idVec3 &rotationOrigin ) {
+	origin = rotationOrigin;
+}
+
+ID_INLINE void idRotation::SetVec( const idVec3 &rotationVec ) {
+	vec = rotationVec;
+	axisValid = false;
+}
+
+ID_INLINE void idRotation::SetVec( float x, float y, float z ) {
+	vec[0] = x;
+	vec[1] = y;
+	vec[2] = z;
+	axisValid = false;
+}
+
+ID_INLINE void idRotation::SetAngle( const float rotationAngle ) {
+	angle = rotationAngle;
+	axisValid = false;
+}
+
+ID_INLINE void idRotation::Scale( const float s ) {
+	angle *= s;
+	axisValid = false;
+}
+
+ID_INLINE void idRotation::ReCalculateMatrix( void ) {
+	axisValid = false;
+	ToMat3();
+}
+
+ID_INLINE const idVec3 &idRotation::GetOrigin( void ) const {
+	return origin;
+}
+
+ID_INLINE const idVec3 &idRotation::GetVec( void ) const  {
+	return vec;
+}
+
+ID_INLINE float idRotation::GetAngle( void ) const  {
+	return angle;
+}
+
+ID_INLINE idRotation idRotation::operator-() const {
+	return idRotation( origin, vec, -angle );
+}
+
+ID_INLINE idRotation idRotation::operator*( const float s ) const {
+	return idRotation( origin, vec, angle * s );
+}
+
+ID_INLINE idRotation idRotation::operator/( const float s ) const {
+	assert( s != 0.0f );
+	return idRotation( origin, vec, angle / s );
+}
+
+ID_INLINE idRotation &idRotation::operator*=( const float s ) {
+	angle *= s;
+	axisValid = false;
+	return *this;
+}
+
+ID_INLINE idRotation &idRotation::operator/=( const float s ) {
+	assert( s != 0.0f );
+	angle /= s;
+	axisValid = false;
+	return *this;
+}
+
+ID_INLINE idVec3 idRotation::operator*( const idVec3 &v ) const {
+	if ( !axisValid ) {
+		ToMat3();
+	}
+	return ((v - origin) * axis + origin);
+}
+
+ID_INLINE idRotation operator*( const float s, const idRotation &r ) {
+	return r * s;
+}
+
+ID_INLINE idVec3 operator*( const idVec3 &v, const idRotation &r ) {
+	return r * v;
+}
+
+ID_INLINE idVec3 &operator*=( idVec3 &v, const idRotation &r ) {
+	v = r * v;
+	return v;
+}
+
+ID_INLINE void idRotation::RotatePoint( idVec3 &point ) const {
+	if ( !axisValid ) {
+		ToMat3();
+	}
+	point = ((point - origin) * axis + origin);
+}
+
+#endif /* !__MATH_ROTATION_H__ */