+++ /dev/null
-/*
-Copyright (C) 1999-2006 Id Software, Inc. and contributors.
-For a list of contributors, see the accompanying CONTRIBUTORS file.
-
-This file is part of GtkRadiant.
-
-GtkRadiant 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.
-
-GtkRadiant 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 GtkRadiant; 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 &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;
- }
-}