/*
===========================================================================

IceTech GPL Source Code
Copyright (C) 2026 Justin Marshall

This file is part of the IceTech GPL Source Code (?IceTech Source Code?).

IceTech 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.

IceTech 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 IceTech Source Code.  If not, see <http://www.gnu.org/licenses/>.

In addition, the IceTech 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 IceTech 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 Justin Marshall, justinmarshall20@gmail.com

===========================================================================
*/

#include "precompiled.h"
#pragma hdrstop

#include <float.h>

idAngles ang_zero(0.0f, 0.0f, 0.0f);


/*
=================
idAngles::Normalize360

returns angles normalized to the range [0 <= angle < 360]
=================
*/
idAngles& idAngles::Normalize360(void) {
	int i;

	for (i = 0; i < 3; i++) {
		if (((*this)[i] >= 360.0f) || ((*this)[i] < 0.0f)) {
			(*this)[i] -= floor((*this)[i] / 360.0f) * 360.0f;

			if ((*this)[i] >= 360.0f) {
				(*this)[i] -= 360.0f;
			}
			if ((*this)[i] < 0.0f) {
				(*this)[i] += 360.0f;
			}
		}
	}

	return *this;
}

/*
=================
idAngles::Normalize180

returns angles normalized to the range [-180 < angle <= 180]
=================
*/
idAngles& idAngles::Normalize180(void) {
	Normalize360();

	if (pitch > 180.0f) {
		pitch -= 360.0f;
	}

	if (yaw > 180.0f) {
		yaw -= 360.0f;
	}

	if (roll > 180.0f) {
		roll -= 360.0f;
	}
	return *this;
}

/*
=================
idAngles::ToVectors
=================
*/
void idAngles::ToVectors(idVec3* forward, idVec3* right, idVec3* up) const {
	float sr, sp, sy, cr, cp, cy;

	idMath::SinCos(DEG2RAD(yaw), sy, cy);
	idMath::SinCos(DEG2RAD(pitch), sp, cp);
	idMath::SinCos(DEG2RAD(roll), sr, cr);

	if (forward) {
		forward->Set(cp * cy, cp * sy, -sp);
	}

	if (right) {
		right->Set(-sr * sp * cy + cr * sy, -sr * sp * sy + -cr * cy, -sr * cp);
	}

	if (up) {
		up->Set(cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp);
	}
}

/*
=================
idAngles::ToForward
=================
*/
idVec3 idAngles::ToForward(void) const {
	float sp, sy, cp, cy;

	idMath::SinCos(DEG2RAD(yaw), sy, cy);
	idMath::SinCos(DEG2RAD(pitch), sp, cp);

	return idVec3(cp * cy, cp * sy, -sp);
}

/*
=================
idAngles::ToQuat
=================
*/
idQuat idAngles::ToQuat(void) const {
	float sx, cx, sy, cy, sz, cz;
	float sxcy, cxcy, sxsy, cxsy;

	idMath::SinCos(DEG2RAD(yaw) * 0.5f, sz, cz);
	idMath::SinCos(DEG2RAD(pitch) * 0.5f, sy, cy);
	idMath::SinCos(DEG2RAD(roll) * 0.5f, sx, cx);

	sxcy = sx * cy;
	cxcy = cx * cy;
	sxsy = sx * sy;
	cxsy = cx * sy;

	return idQuat(cxsy * sz - sxcy * cz, -cxsy * cz - sxcy * sz, sxsy * cz - cxcy * sz, cxcy * cz + sxsy * sz);
}

/*
=================
idAngles::ToRotation
=================
*/
idRotation idAngles::ToRotation(void) const {
	idVec3 vec;
	float angle, w;
	float sx, cx, sy, cy, sz, cz;
	float sxcy, cxcy, sxsy, cxsy;

	if (pitch == 0.0f) {
		if (yaw == 0.0f) {
			return idRotation(vec3_origin, idVec3(-1.0f, 0.0f, 0.0f), roll);
		}
		if (roll == 0.0f) {
			return idRotation(vec3_origin, idVec3(0.0f, 0.0f, -1.0f), yaw);
		}
	}
	else if (yaw == 0.0f && roll == 0.0f) {
		return idRotation(vec3_origin, idVec3(0.0f, -1.0f, 0.0f), pitch);
	}

	idMath::SinCos(DEG2RAD(yaw) * 0.5f, sz, cz);
	idMath::SinCos(DEG2RAD(pitch) * 0.5f, sy, cy);
	idMath::SinCos(DEG2RAD(roll) * 0.5f, sx, cx);

	sxcy = sx * cy;
	cxcy = cx * cy;
	sxsy = sx * sy;
	cxsy = cx * sy;

	vec.x = cxsy * sz - sxcy * cz;
	vec.y = -cxsy * cz - sxcy * sz;
	vec.z = sxsy * cz - cxcy * sz;
	w = cxcy * cz + sxsy * sz;
	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);
}

/*
=================
idAngles::ToMat3
=================
*/
idMat3 idAngles::ToMat3(void) const {
	idMat3 mat;
	float sr, sp, sy, cr, cp, cy;

	idMath::SinCos(DEG2RAD(yaw), sy, cy);
	idMath::SinCos(DEG2RAD(pitch), sp, cp);
	idMath::SinCos(DEG2RAD(roll), sr, cr);

	mat[0].Set(cp * cy, cp * sy, -sp);
	mat[1].Set(sr * sp * cy + cr * -sy, sr * sp * sy + cr * cy, sr * cp);
	mat[2].Set(cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp);

	return mat;
}

#ifdef QUAKE4
// RAVEN BEGIN
// jscott: slightly quicker version without the copy
idMat3& idAngles::ToMat3(idMat3& mat) const {
	float sr, sp, sy, cr, cp, cy;

	idMath::SinCos(DEG2RAD(yaw), sy, cy);
	idMath::SinCos(DEG2RAD(pitch), sp, cp);
	idMath::SinCos(DEG2RAD(roll), sr, cr);

	mat[0].Set(cp * cy, cp * sy, -sp);
	mat[1].Set(sr * sp * cy + cr * -sy, sr * sp * sy + cr * cy, sr * cp);
	mat[2].Set(cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp);

	return mat;
}
// RAVEN END
#endif

/*
=================
idAngles::ToMat4
=================
*/
idMat4 idAngles::ToMat4(void) const {
	return ToMat3().ToMat4();
}

/*
=================
idAngles::ToAngularVelocity
=================
*/
idVec3 idAngles::ToAngularVelocity(void) const {
	idRotation rotation = idAngles::ToRotation();
	return rotation.GetVec() * DEG2RAD(rotation.GetAngle());
}

/*
=============
idAngles::ToString
=============
*/
const char* idAngles::ToString(int precision) const {
	return idStr::FloatArrayToString(ToFloatPtr(), GetDimension(), precision);
}