1 #include "anglestransform.qh"
4 // angles in fixedmakevectors/fixedvectoangles space
5 vector AnglesTransform_Apply(vector transform, vector v)
7 vector forward, right, up;
8 FIXED_MAKE_VECTORS(transform, forward, right, up);
9 return forward * v.x + right * (-v.y) + up * v.z;
12 vector AnglesTransform_Multiply(vector t1, vector t2)
14 vector forward, right, up;
15 FIXED_MAKE_VECTORS(t2, forward, right, up);
16 forward = AnglesTransform_Apply(t1, forward);
17 up = AnglesTransform_Apply(t1, up);
18 return fixedvectoangles2(forward, up);
21 vector AnglesTransform_Invert(vector transform)
23 vector i_forward, i_up;
24 vector forward, right, up;
25 FIXED_MAKE_VECTORS(transform, forward, right, up);
26 // we want angles that turn forward into '1 0 0', right into '0 1 0' and up into '0 0 1'
27 // but these are orthogonal unit vectors!
28 // so to invert, we can simply fixedvectoangles the TRANSPOSED matrix
29 // TODO is this always -transform?
30 i_forward.x = forward.x;
31 i_forward.y = -right.x;
36 return fixedvectoangles2(i_forward, i_up);
39 vector AnglesTransform_TurnDirectionFR(vector transform)
41 // turn 180 degrees around v_up
42 // changes in-direction to out-direction
43 //fixedmakevectors(transform);
44 //return fixedvectoangles2(-1 * v_forward, 1 * v_up);
45 transform.x = -transform.x;
46 transform.y = 180 + transform.y;
47 transform.z = -transform.z;
54 vector AnglesTransform_TurnDirectionFU(vector transform)
56 // turn 180 degrees around v_up
57 // changes in-direction to out-direction
58 //fixedmakevectors(transform);
59 //return fixedvectoangles2(-1 * v_forward, 1 * v_up);
60 transform.x = -transform.x;
61 transform.y = 180 + transform.y;
62 transform.z = 180 - transform.z;
66 vector AnglesTransform_RightDivide(vector to_transform, vector from_transform)
68 return AnglesTransform_Multiply(to_transform, AnglesTransform_Invert(from_transform));
71 vector AnglesTransform_LeftDivide(vector from_transform, vector to_transform)
73 return AnglesTransform_Multiply(AnglesTransform_Invert(from_transform), to_transform);
76 vector AnglesTransform_Normalize(vector t, float minimize_roll)
79 // first, bring all angles in their range...
80 t.x = t.x - 360 * rint(t.x / 360);
81 t.y = t.y - 360 * rint(t.y / 360);
82 t.z = t.z - 360 * rint(t.z / 360);
84 need_flip = (t.z > 90 || t.z <= -90);
86 need_flip = (t.x > 90 || t.x < -90); // for pitch we prefer to allow exactly -90 degrees for looking straight down
89 if(t.x >= 0) t.x = 180 - t.x; else t.x = -180 - t.x;
90 if(t.y > 0) t.y -= 180; else t.y += 180;
91 if(t.z > 0) t.z -= 180; else t.z += 180;
96 vector AnglesTransform_CancelRoll(vector t)
98 const float epsilon = 30;
102 // forward vector (NOT SO important)
103 // right vector, up vector: screen rotation (MORE important)
104 // choose best match among all pitch-yaw only rotations
106 // FIXME find a better method
108 f = fabs(t.x - (-90)) / epsilon;
117 f = fabs(t.x - 90) / epsilon;
128 #if POSITIVE_PITCH_IS_DOWN
129 vector AnglesTransform_ApplyToAngles(vector transform, vector v)
132 v = AnglesTransform_Multiply(transform, v);
136 vector AnglesTransform_ApplyToVAngles(vector transform, vector v)
138 v = AnglesTransform_Multiply(transform, v);
141 vector AnglesTransform_FromAngles(vector v)
146 vector AnglesTransform_ToAngles(vector v)
151 vector AnglesTransform_FromVAngles(vector v)
155 vector AnglesTransform_ToVAngles(vector v)
160 vector AnglesTransform_ApplyToAngles(vector transform, vector v)
162 v = AnglesTransform_Multiply(transform, v);
165 vector AnglesTransform_ApplyToVAngles(vector transform, vector v)
168 v = AnglesTransform_Multiply(transform, v);
172 vector AnglesTransform_FromAngles(vector v)
176 vector AnglesTransform_ToAngles(vector v)
180 vector AnglesTransform_FromVAngles(vector v)
185 vector AnglesTransform_ToVAngles(vector v)
192 vector AnglesTransform_Multiply_GetPostShift(vector t0, vector st0, vector t1, vector st1)
194 // we want the result of:
195 // t0 * (t1 * p + st1) + st0
196 // t0 * t1 * p + t0 * st1 + st0
197 return st0 + AnglesTransform_Apply(t0, st1);
199 vector AnglesTransform_PrePostShift_GetPostShift(vector sf, vector t, vector st)
201 return st - AnglesTransform_Apply(t, sf);