diff options
Diffstat (limited to 'code/splines/math_quaternion.cpp')
| -rwxr-xr-x | code/splines/math_quaternion.cpp | 156 |
1 files changed, 78 insertions, 78 deletions
diff --git a/code/splines/math_quaternion.cpp b/code/splines/math_quaternion.cpp index f37a6b6..d799ce9 100755 --- a/code/splines/math_quaternion.cpp +++ b/code/splines/math_quaternion.cpp @@ -1,78 +1,78 @@ -/*
-===========================================================================
-Copyright (C) 1999-2005 Id Software, Inc.
-
-This file is part of Quake III Arena source code.
-
-Quake III Arena 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 2 of the License,
-or (at your option) any later version.
-
-Quake III Arena 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 Foobar; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-===========================================================================
-*/
-#include "math_quaternion.h"
-#include "math_matrix.h"
-
-void toQuat( idVec3_t &src, quat_t &dst ) {
- dst.x = src.x;
- dst.y = src.y;
- dst.z = src.z;
- dst.w = 0.0f;
-}
-
-void toQuat( angles_t &src, quat_t &dst ) {
- mat3_t temp;
-
- toMatrix( src, temp );
- toQuat( temp, dst );
-}
-
-void toQuat( mat3_t &src, quat_t &dst ) {
- float trace;
- float s;
- int i;
- int j;
- int k;
-
- static int next[ 3 ] = { 1, 2, 0 };
-
- trace = src[ 0 ][ 0 ] + src[ 1 ][ 1 ] + src[ 2 ][ 2 ];
- if ( trace > 0.0f ) {
- s = ( float )sqrt( trace + 1.0f );
- dst.w = s * 0.5f;
- s = 0.5f / s;
-
- dst.x = ( src[ 2 ][ 1 ] - src[ 1 ][ 2 ] ) * s;
- dst.y = ( src[ 0 ][ 2 ] - src[ 2 ][ 0 ] ) * s;
- dst.z = ( src[ 1 ][ 0 ] - src[ 0 ][ 1 ] ) * s;
- } else {
- i = 0;
- if ( src[ 1 ][ 1 ] > src[ 0 ][ 0 ] ) {
- i = 1;
- }
- if ( src[ 2 ][ 2 ] > src[ i ][ i ] ) {
- i = 2;
- }
-
- j = next[ i ];
- k = next[ j ];
-
- s = ( float )sqrt( ( src[ i ][ i ] - ( src[ j ][ j ] + src[ k ][ k ] ) ) + 1.0f );
- dst[ i ] = s * 0.5f;
-
- s = 0.5f / s;
-
- dst.w = ( src[ k ][ j ] - src[ j ][ k ] ) * s;
- dst[ j ] = ( src[ j ][ i ] + src[ i ][ j ] ) * s;
- dst[ k ] = ( src[ k ][ i ] + src[ i ][ k ] ) * s;
- }
-}
+/* +=========================================================================== +Copyright (C) 1999-2005 Id Software, Inc. + +This file is part of Quake III Arena source code. + +Quake III Arena 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 2 of the License, +or (at your option) any later version. + +Quake III Arena 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 Foobar; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +=========================================================================== +*/ +#include "math_quaternion.h" +#include "math_matrix.h" + +void toQuat( idVec3_t &src, quat_t &dst ) { + dst.x = src.x; + dst.y = src.y; + dst.z = src.z; + dst.w = 0.0f; +} + +void toQuat( angles_t &src, quat_t &dst ) { + mat3_t temp; + + toMatrix( src, temp ); + toQuat( temp, dst ); +} + +void toQuat( mat3_t &src, quat_t &dst ) { + float trace; + float s; + int i; + int j; + int k; + + static int next[ 3 ] = { 1, 2, 0 }; + + trace = src[ 0 ][ 0 ] + src[ 1 ][ 1 ] + src[ 2 ][ 2 ]; + if ( trace > 0.0f ) { + s = ( float )sqrt( trace + 1.0f ); + dst.w = s * 0.5f; + s = 0.5f / s; + + dst.x = ( src[ 2 ][ 1 ] - src[ 1 ][ 2 ] ) * s; + dst.y = ( src[ 0 ][ 2 ] - src[ 2 ][ 0 ] ) * s; + dst.z = ( src[ 1 ][ 0 ] - src[ 0 ][ 1 ] ) * s; + } else { + i = 0; + if ( src[ 1 ][ 1 ] > src[ 0 ][ 0 ] ) { + i = 1; + } + if ( src[ 2 ][ 2 ] > src[ i ][ i ] ) { + i = 2; + } + + j = next[ i ]; + k = next[ j ]; + + s = ( float )sqrt( ( src[ i ][ i ] - ( src[ j ][ j ] + src[ k ][ k ] ) ) + 1.0f ); + dst[ i ] = s * 0.5f; + + s = 0.5f / s; + + dst.w = ( src[ k ][ j ] - src[ j ][ k ] ) * s; + dst[ j ] = ( src[ j ][ i ] + src[ i ][ j ] ) * s; + dst[ k ] = ( src[ k ][ i ] + src[ i ][ k ] ) * s; + } +} |