Justin Marshall
90 lines
2.7 KiB
C++
90 lines
2.7 KiB
C++
#pragma once
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#include "vector.h"
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#include <cmath>
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class idRotation {
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public:
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idVec3 origin;
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idVec3 vec;
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float angle;
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mutable idMat3 axis;
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mutable bool axisValid;
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idRotation()
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: origin(0.0f, 0.0f, 0.0f), vec(0.0f, 0.0f, 1.0f), angle(0.0f),
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axis(1.0f), axisValid(false) {
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}
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idRotation(const idVec3& rotationOrigin, const idVec3& rotationVector,
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const float rotationAngle)
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: origin(rotationOrigin), vec(rotationVector), angle(rotationAngle),
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axis(1.0f), axisValid(false) {
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}
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const idMat3& ToMat3() const {
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if (axisValid) return axis;
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const float halfAngle = angle * 0.00872664625997164788f;
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const float sine = std::sin(halfAngle);
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const float cosine = std::cos(halfAngle);
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const float x = vec.x * sine;
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const float y = vec.y * sine;
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const float z = vec.z * sine;
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const float x2 = x + x;
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const float y2 = y + y;
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const float z2 = z + z;
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const float xx = x * x2;
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const float xy = x * y2;
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const float xz = x * z2;
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const float yy = y * y2;
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const float yz = y * z2;
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const float zz = z * z2;
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const float wx = cosine * x2;
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const float wy = cosine * y2;
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const float wz = cosine * z2;
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axis = idMat3(
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1.0f - (yy + zz), xy - wz, xz + wy,
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xy + wz, 1.0f - (xx + zz), yz - wx,
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xz - wy, yz + wx, 1.0f - (xx + yy));
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axisValid = true;
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return axis;
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}
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idVec3 operator*(const idVec3& point) const {
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return origin + ToMat3() * (point - origin);
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}
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idRotation operator-() const {
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return idRotation(origin, vec, -angle);
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}
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void RotatePoint(idVec3& point) const { point = *this * point; }
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void RotateAxis(idMat3& value) const { value *= ToMat3(); }
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void Normalize180() {
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angle -= std::floor(angle / 360.0f) * 360.0f;
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if (angle > 180.0f) angle -= 360.0f;
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if (angle < -180.0f) angle += 360.0f;
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axisValid = false;
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}
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idVec3 ToAngularVelocity() const {
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return vec * (angle * 0.01745329251994329577f);
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}
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void SetOrigin(const idVec3& value) { origin = value; }
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void SetVec(const idVec3& value) { vec = value; axisValid = false; }
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void SetAngle(float value) { angle = value; axisValid = false; }
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const idVec3& GetOrigin() const { return origin; }
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const idVec3& GetVec() const { return vec; }
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float GetAngle() const { return angle; }
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};
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inline idVec3& operator*=(idVec3& vector, const idRotation& rotation) {
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vector = rotation * vector;
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return vector;
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}
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static_assert(sizeof(idRotation) == 68, "Recovered idRotation ABI changed");
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