1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
|
/*
===========================================================================
Return to Castle Wolfenstein single player GPL Source Code
Copyright (C) 1999-2010 id Software LLC, a ZeniMax Media company.
This file is part of the Return to Castle Wolfenstein single player GPL Source Code (RTCW SP Source Code).
RTCW SP 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.
RTCW SP 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 RTCW SP Source Code. If not, see <http://www.gnu.org/licenses/>.
In addition, the RTCW SP 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 RTCW SP 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 "q_splineshared.h"
mat3_t mat3_default( idVec3( 1, 0, 0 ), idVec3( 0, 1, 0 ), idVec3( 0, 0, 1 ) );
void toMatrix( quat_t const &src, mat3_t &dst ) {
float wx, wy, wz;
float xx, yy, yz;
float xy, xz, zz;
float x2, y2, z2;
x2 = src.x + src.x;
y2 = src.y + src.y;
z2 = src.z + src.z;
xx = src.x * x2;
xy = src.x * y2;
xz = src.x * z2;
yy = src.y * y2;
yz = src.y * z2;
zz = src.z * z2;
wx = src.w * x2;
wy = src.w * y2;
wz = src.w * z2;
dst[ 0 ][ 0 ] = 1.0f - ( yy + zz );
dst[ 0 ][ 1 ] = xy - wz;
dst[ 0 ][ 2 ] = xz + wy;
dst[ 1 ][ 0 ] = xy + wz;
dst[ 1 ][ 1 ] = 1.0f - ( xx + zz );
dst[ 1 ][ 2 ] = yz - wx;
dst[ 2 ][ 0 ] = xz - wy;
dst[ 2 ][ 1 ] = yz + wx;
dst[ 2 ][ 2 ] = 1.0f - ( xx + yy );
}
void toMatrix( angles_t const &src, mat3_t &dst ) {
float angle;
static float sr, sp, sy, cr, cp, cy; // static to help MS compiler fp bugs
angle = src.yaw * ( M_PI * 2.0f / 360.0f );
sy = sin( angle );
cy = cos( angle );
angle = src.pitch * ( M_PI * 2.0f / 360.0f );
sp = sin( angle );
cp = cos( angle );
angle = src.roll * ( M_PI * 2.0f / 360.0f );
sr = sin( angle );
cr = cos( angle );
dst[ 0 ].set( cp * cy, cp * sy, -sp );
dst[ 1 ].set( sr * sp * cy + cr * -sy, sr * sp * sy + cr * cy, sr * cp );
dst[ 2 ].set( cr * sp * cy + - sr * -sy, cr * sp * sy + - sr * cy, cr * cp );
}
void toMatrix( idVec3 const &src, mat3_t &dst ) {
angles_t sup = src;
toMatrix( sup, dst );
}
void mat3_t::ProjectVector( const idVec3 &src, idVec3 &dst ) const {
dst.x = src * mat[ 0 ];
dst.y = src * mat[ 1 ];
dst.z = src * mat[ 2 ];
}
void mat3_t::UnprojectVector( const idVec3 &src, idVec3 &dst ) const {
dst = mat[ 0 ] * src.x + mat[ 1 ] * src.y + mat[ 2 ] * src.z;
}
void mat3_t::Transpose( mat3_t &matrix ) {
int i;
int j;
for ( i = 0; i < 3; i++ ) {
for ( j = 0; j < 3; j++ ) {
matrix[ i ][ j ] = mat[ j ][ i ];
}
}
}
void mat3_t::Transpose( void ) {
float temp;
int i;
int j;
for ( i = 0; i < 3; i++ ) {
for ( j = i + 1; j < 3; j++ ) {
temp = mat[ i ][ j ];
mat[ i ][ j ] = mat[ j ][ i ];
mat[ j ][ i ] = temp;
}
}
}
mat3_t mat3_t::Inverse( void ) const {
mat3_t inv( *this );
inv.Transpose();
return inv;
}
void mat3_t::Clear( void ) {
mat[0].set( 1, 0, 0 );
mat[1].set( 0, 1, 0 );
mat[2].set( 0, 0, 1 );
}
|
