Angles.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
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Doom 3 Source Code is distributed in the hope that it will be useful,
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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You should have received a copy of the GNU General Public License
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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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===========================================================================
*/

#ifndef __MATH_ANGLES_H__
#define __MATH_ANGLES_H__

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

        Euler angles

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

// angle indexes
#define PITCH                           0               // up / down
#define YAW                                     1               // left / right
#define ROLL                            2               // fall over

class idVec3;
class idQuat;
class idRotation;
class idMat3;
class idMat4;

class idAngles {
public:
        float                   pitch;
        float                   yaw;
        float                   roll;

                                        idAngles( void );
                                        idAngles( float pitch, float yaw, float roll );
                                        explicit idAngles( const idVec3 &v );

        void                    Set( float pitch, float yaw, float roll );
        idAngles &              Zero( void );

        float                   operator[]( int index ) const;
        float &                 operator[]( int index );
        idAngles                operator-() const;                      // negate angles, in general not the inverse rotation
        idAngles &              operator=( const idAngles &a );
        idAngles                operator+( const idAngles &a ) const;
        idAngles &              operator+=( const idAngles &a );
        idAngles                operator-( const idAngles &a ) const;
        idAngles &              operator-=( const idAngles &a );
        idAngles                operator*( const float a ) const;
        idAngles &              operator*=( const float a );
        idAngles                operator/( const float a ) const;
        idAngles &              operator/=( const float a );

        friend idAngles operator*( const float a, const idAngles &b );

        bool                    Compare( const idAngles &a ) const;                                                     // exact compare, no epsilon
        bool                    Compare( const idAngles &a, const float epsilon ) const;        // compare with epsilon
        bool                    operator==(     const idAngles &a ) const;                                              // exact compare, no epsilon
        bool                    operator!=(     const idAngles &a ) const;                                              // exact compare, no epsilon

        idAngles &              Normalize360( void );   // normalizes 'this'
        idAngles &              Normalize180( void );   // normalizes 'this'

        void                    Clamp( const idAngles &min, const idAngles &max );

        int                             GetDimension( void ) const;

        void                    ToVectors( idVec3 *forward, idVec3 *right = NULL, idVec3 *up = NULL ) const;
        idVec3                  ToForward( void ) const;
        idQuat                  ToQuat( void ) const;
        idRotation              ToRotation( void ) const;
        idMat3                  ToMat3( void ) const;
        idMat4                  ToMat4( void ) const;
        idVec3                  ToAngularVelocity( void ) const;
        const float *   ToFloatPtr( void ) const;
        float *                 ToFloatPtr( void );
        const char *    ToString( int precision = 2 ) const;
};

extern idAngles ang_zero;

ID_INLINE idAngles::idAngles( void ) {
}

ID_INLINE idAngles::idAngles( float pitch, float yaw, float roll ) {
        this->pitch = pitch;
        this->yaw       = yaw;
        this->roll      = roll;
}

ID_INLINE idAngles::idAngles( const idVec3 &v ) {
        this->pitch = v[0];
        this->yaw       = v[1];
        this->roll      = v[2];
}

ID_INLINE void idAngles::Set( float pitch, float yaw, float roll ) {
        this->pitch = pitch;
        this->yaw       = yaw;
        this->roll      = roll;
}

ID_INLINE idAngles &idAngles::Zero( void ) {
        pitch = yaw = roll = 0.0f;
        return *this;
}

ID_INLINE float idAngles::operator[]( int index ) const {
        assert( ( index >= 0 ) && ( index < 3 ) );
        return ( &pitch )[ index ];
}

ID_INLINE float &idAngles::operator[]( int index ) {
        assert( ( index >= 0 ) && ( index < 3 ) );
        return ( &pitch )[ index ];
}

ID_INLINE idAngles idAngles::operator-() const {
        return idAngles( -pitch, -yaw, -roll );
}

ID_INLINE idAngles &idAngles::operator=( const idAngles &a ) {
        pitch   = a.pitch;
        yaw             = a.yaw;
        roll    = a.roll;
        return *this;
}

ID_INLINE idAngles idAngles::operator+( const idAngles &a ) const {
        return idAngles( pitch + a.pitch, yaw + a.yaw, roll + a.roll );
}

ID_INLINE idAngles& idAngles::operator+=( const idAngles &a ) {
        pitch   += a.pitch;
        yaw             += a.yaw;
        roll    += a.roll;

        return *this;
}

ID_INLINE idAngles idAngles::operator-( const idAngles &a ) const {
        return idAngles( pitch - a.pitch, yaw - a.yaw, roll - a.roll );
}

ID_INLINE idAngles& idAngles::operator-=( const idAngles &a ) {
        pitch   -= a.pitch;
        yaw             -= a.yaw;
        roll    -= a.roll;

        return *this;
}

ID_INLINE idAngles idAngles::operator*( const float a ) const {
        return idAngles( pitch * a, yaw * a, roll * a );
}

ID_INLINE idAngles& idAngles::operator*=( float a ) {
        pitch   *= a;
        yaw             *= a;
        roll    *= a;
        return *this;
}

ID_INLINE idAngles idAngles::operator/( const float a ) const {
        float inva = 1.0f / a;
        return idAngles( pitch * inva, yaw * inva, roll * inva );
}

ID_INLINE idAngles& idAngles::operator/=( float a ) {
        float inva = 1.0f / a;
        pitch   *= inva;
        yaw             *= inva;
        roll    *= inva;
        return *this;
}

ID_INLINE idAngles operator*( const float a, const idAngles &b ) {
        return idAngles( a * b.pitch, a * b.yaw, a * b.roll );
}

ID_INLINE bool idAngles::Compare( const idAngles &a ) const {
        return ( ( a.pitch == pitch ) && ( a.yaw == yaw ) && ( a.roll == roll ) );
}

ID_INLINE bool idAngles::Compare( const idAngles &a, const float epsilon ) const {
        if ( idMath::Fabs( pitch - a.pitch ) > epsilon ) {
                return false;
        }
                        
        if ( idMath::Fabs( yaw - a.yaw ) > epsilon ) {
                return false;
        }

        if ( idMath::Fabs( roll - a.roll ) > epsilon ) {
                return false;
        }

        return true;
}

ID_INLINE bool idAngles::operator==( const idAngles &a ) const {
        return Compare( a );
}

ID_INLINE bool idAngles::operator!=( const idAngles &a ) const {
        return !Compare( a );
}

ID_INLINE void idAngles::Clamp( const idAngles &min, const idAngles &max ) {
        if ( pitch < min.pitch ) {
                pitch = min.pitch;
        } else if ( pitch > max.pitch ) {
                pitch = max.pitch;
        }
        if ( yaw < min.yaw ) {
                yaw = min.yaw;
        } else if ( yaw > max.yaw ) {
                yaw = max.yaw;
        }
        if ( roll < min.roll ) {
                roll = min.roll;
        } else if ( roll > max.roll ) {
                roll = max.roll;
        }
}

ID_INLINE int idAngles::GetDimension( void ) const {
        return 3;
}

ID_INLINE const float *idAngles::ToFloatPtr( void ) const {
        return &pitch;
}

ID_INLINE float *idAngles::ToFloatPtr( void ) {
        return &pitch;
}

#endif /* !__MATH_ANGLES_H__ */