diff options
Diffstat (limited to 'code/splines/math_quaternion.cpp')
| -rwxr-xr-x | code/splines/math_quaternion.cpp | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/code/splines/math_quaternion.cpp b/code/splines/math_quaternion.cpp new file mode 100755 index 0000000..f37a6b6 --- /dev/null +++ b/code/splines/math_quaternion.cpp @@ -0,0 +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;
+ }
+}
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