Angles.cpp

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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.

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

#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;
}

/*
=================
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 );
}