1 #include "anglestransform.qh"
8 #ifdef POSITIVE_PITCH_IS_DOWN
9 vector fixedvectoangles(vector a)
16 vector fixedvectoangles2(vector a, vector b)
19 ang = vectoangles2(a, b);
24 void fixedmakevectors(vector a)
26 // a makevectors that actually inverts vectoangles
33 // angles in fixedmakevectors/fixedvectoangles space
34 vector AnglesTransform_Apply(vector transform, vector v)
36 fixedmakevectors(transform);
37 return v_forward * v.x
42 vector AnglesTransform_Multiply(vector t1, vector t2)
44 vector m_forward, m_up;
45 fixedmakevectors(t2); m_forward = v_forward; m_up = v_up;
46 m_forward = AnglesTransform_Apply(t1, m_forward); m_up = AnglesTransform_Apply(t1, m_up);
47 return fixedvectoangles2(m_forward, m_up);
50 vector AnglesTransform_Invert(vector transform)
52 vector i_forward, i_up;
53 fixedmakevectors(transform);
54 // we want angles that turn v_forward into '1 0 0', v_right into '0 1 0' and v_up into '0 0 1'
55 // but these are orthogonal unit vectors!
56 // so to invert, we can simply fixedvectoangles the TRANSPOSED matrix
57 // TODO is this always -transform?
58 i_forward.x = v_forward.x;
59 i_forward.y = -v_right.x;
64 return fixedvectoangles2(i_forward, i_up);
67 vector AnglesTransform_TurnDirectionFR(vector transform)
69 // turn 180 degrees around v_up
70 // changes in-direction to out-direction
71 //fixedmakevectors(transform);
72 //return fixedvectoangles2(-1 * v_forward, 1 * v_up);
73 transform.x = -transform.x;
74 transform.y = 180 + transform.y;
75 transform.z = -transform.z;
82 vector AnglesTransform_TurnDirectionFU(vector transform)
84 // turn 180 degrees around v_up
85 // changes in-direction to out-direction
86 //fixedmakevectors(transform);
87 //return fixedvectoangles2(-1 * v_forward, 1 * v_up);
88 transform.x = -transform.x;
89 transform.y = 180 + transform.y;
90 transform.z = 180 - transform.z;
94 vector AnglesTransform_RightDivide(vector to_transform, vector from_transform)
96 return AnglesTransform_Multiply(to_transform, AnglesTransform_Invert(from_transform));
99 vector AnglesTransform_LeftDivide(vector from_transform, vector to_transform)
101 return AnglesTransform_Multiply(AnglesTransform_Invert(from_transform), to_transform);
104 vector AnglesTransform_Normalize(vector t, float minimize_roll)
107 // first, bring all angles in their range...
108 t.x = t.x - 360 * rint(t.x / 360);
109 t.y = t.y - 360 * rint(t.y / 360);
110 t.z = t.z - 360 * rint(t.z / 360);
112 need_flip = (t.z > 90 || t.z <= -90);
114 need_flip = (t.x > 90 || t.x < -90); // for pitch we prefer to allow exactly -90 degrees for looking straight down
117 if(t.x >= 0) t.x = 180 - t.x; else t.x = -180 - t.x;
118 if(t.y > 0) t.y -= 180; else t.y += 180;
119 if(t.z > 0) t.z -= 180; else t.z += 180;
124 vector AnglesTransform_CancelRoll(vector t)
126 const float epsilon = 30;
130 // forward vector (NOT SO important)
131 // right vector, up vector: screen rotation (MORE important)
132 // choose best match among all pitch-yaw only rotations
134 // FIXME find a better method
136 f = fabs(t.x - (-90)) / epsilon;
145 f = fabs(t.x - 90) / epsilon;
156 #ifdef POSITIVE_PITCH_IS_DOWN
157 vector AnglesTransform_ApplyToAngles(vector transform, vector v)
160 v = AnglesTransform_Multiply(transform, v);
164 vector AnglesTransform_ApplyToVAngles(vector transform, vector v)
166 v = AnglesTransform_Multiply(transform, v);
169 vector AnglesTransform_FromAngles(vector v)
174 vector AnglesTransform_ToAngles(vector v)
179 vector AnglesTransform_FromVAngles(vector v)
183 vector AnglesTransform_ToVAngles(vector v)
188 vector AnglesTransform_ApplyToAngles(vector transform, vector v)
190 v = AnglesTransform_Multiply(transform, v);
193 vector AnglesTransform_ApplyToVAngles(vector transform, vector v)
196 v = AnglesTransform_Multiply(transform, v);
200 vector AnglesTransform_FromAngles(vector v)
204 vector AnglesTransform_ToAngles(vector v)
208 vector AnglesTransform_FromVAngles(vector v)
213 vector AnglesTransform_ToVAngles(vector v)
220 vector AnglesTransform_Multiply_GetPostShift(vector t0, vector st0, vector t1, vector st1)
222 // we want the result of:
223 // t0 * (t1 * p + st1) + st0
224 // t0 * t1 * p + t0 * st1 + st0
225 return st0 + AnglesTransform_Apply(t0, st1);
227 vector AnglesTransform_PrePostShift_GetPostShift(vector sf, vector t, vector st)
229 return st - AnglesTransform_Apply(t, sf);