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/*
===========================================================================
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 "math_quaternion.h"
#include "math_matrix.h"
void toQuat( idVec3 &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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