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/*
===========================================================================
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 "q_shared.h"
#include <float.h>
angles_t ang_zero( 0.0f, 0.0f, 0.0f );
void toAngles( mat3_t &src, angles_t &dst ) {
double theta;
double cp;
double sp;
sp = src[ 0 ][ 2 ];
// cap off our sin value so that we don't get any NANs
if ( sp > 1.0 ) {
sp = 1.0;
} else if ( sp < -1.0 ) {
sp = -1.0;
}
theta = -asin( sp );
cp = cos( theta );
if ( cp > 8192 * FLT_EPSILON ) {
dst.pitch = theta * 180 / M_PI;
dst.yaw = atan2( src[ 0 ][ 1 ], src[ 0 ][ 0 ] ) * 180 / M_PI;
dst.roll = atan2( src[ 1 ][ 2 ], src[ 2 ][ 2 ] ) * 180 / M_PI;
} else {
dst.pitch = theta * 180 / M_PI;
dst.yaw = -atan2( src[ 1 ][ 0 ], src[ 1 ][ 1 ] ) * 180 / M_PI;
dst.roll = 0;
}
}
void toAngles( quat_t &src, angles_t &dst ) {
mat3_t temp;
toMatrix( src, temp );
toAngles( temp, dst );
}
void toAngles( idVec3_t &src, angles_t &dst ) {
dst.pitch = src[ 0 ];
dst.yaw = src[ 1 ];
dst.roll = src[ 2 ];
}
void angles_t::toVectors( idVec3_t *forward, idVec3_t *right, idVec3_t *up ) {
float angle;
static float sr, sp, sy, cr, cp, cy; // static to help MS compiler fp bugs
angle = yaw * ( M_PI * 2 / 360 );
sy = sin( angle );
cy = cos( angle );
angle = pitch * ( M_PI * 2 / 360 );
sp = sin( angle );
cp = cos( angle );
angle = roll * ( M_PI * 2 / 360 );
sr = sin( angle );
cr = cos( angle );
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 );
}
}
idVec3_t angles_t::toForward( void ) {
float angle;
static float sp, sy, cp, cy; // static to help MS compiler fp bugs
angle = yaw * ( M_PI * 2 / 360 );
sy = sin( angle );
cy = cos( angle );
angle = pitch * ( M_PI * 2 / 360 );
sp = sin( angle );
cp = cos( angle );
return idVec3_t( cp * cy, cp * sy, -sp );
}
/*
=================
Normalize360
returns angles normalized to the range [0 <= angle < 360]
=================
*/
angles_t& angles_t::Normalize360( void ) {
pitch = (360.0 / 65536) * ( ( int )( pitch * ( 65536 / 360.0 ) ) & 65535 );
yaw = (360.0 / 65536) * ( ( int )( yaw * ( 65536 / 360.0 ) ) & 65535 );
roll = (360.0 / 65536) * ( ( int )( roll * ( 65536 / 360.0 ) ) & 65535 );
return *this;
}
/*
=================
Normalize180
returns angles normalized to the range [-180 < angle <= 180]
=================
*/
angles_t& angles_t::Normalize180( void ) {
Normalize360();
if ( pitch > 180.0 ) {
pitch -= 360.0;
}
if ( yaw > 180.0 ) {
yaw -= 360.0;
}
if ( roll > 180.0 ) {
roll -= 360.0;
}
return *this;
}
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