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add regular RageQuatFromHPR and simple AABB functions

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This commit is contained in:
Glenn Maynard
2003-12-20 03:51:25 +00:00
parent b54fab54d0
commit 63106abd5e
2 changed files with 55 additions and 19 deletions
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stepmania/src/RageMath.cpp
+52 -19
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@@ -19,6 +19,22 @@
#include <math.h>
#include "arch/ArchHooks/ArchHooks.h"
void RageVec3ClearBounds( RageVector3 &mins, RageVector3 &maxs )
{
mins = RageVector3( 999999, 999999, 999999 );
maxs = mins * -1;
}
void RageVec3AddToBounds( const RageVector3 &p, RageVector3 &mins, RageVector3 &maxs )
{
mins.x = min( mins.x, p.x );
mins.y = min( mins.y, p.y );
mins.z = min( mins.z, p.z );
maxs.x = max( maxs.x, p.x );
maxs.y = max( maxs.y, p.y );
maxs.z = max( maxs.z, p.z );
}
void RageVec2Normalize( RageVector2* pOut, const RageVector2* pV )
{
float scale = 1.0f / sqrtf( pV->x*pV->x + pV->y*pV->y );
@@ -325,35 +341,52 @@ RageVector4 RageQuatFromR(float theta )
}
/* From http://www.gamasutra.com/features/19980703/quaternions_01.htm .
*
* The math on this page treats HPR as if Z is up and we're looking down Y; that
* is, if you're in a room, the floor is on the XY plane and Z is height.
* However, we treat the floor as the XZ plane, and Y is height; in other
* words, as if the screen is the XY plane and negative Z goes into it.
* So, instead of HPR.xyz being heading, pitch, roll, it's pitch, roll, heading. */
/* Math from http://www.gamasutra.com/features/19980703/quaternions_01.htm . */
/* prh.xyz -> heading, pitch, roll */
void RageQuatFromHPR(RageVector4* pOut, RageVector3 hpr )
{
hpr *= PI;
hpr /= 180.0f;
hpr /= 2.0f;
const float sX = sinf(hpr.x);
const float cX = cosf(hpr.x);
const float sY = sinf(hpr.y);
const float cY = cosf(hpr.y);
const float sZ = sinf(hpr.z);
const float cZ = cosf(hpr.z);
pOut->w = cX * cY * cZ + sX * sY * sZ;
pOut->x = sX * cY * cZ - cX * sY * sZ;
pOut->y = cX * sY * cZ + sX * cY * sZ;
pOut->z = cX * cY * sZ - sX * sY * cZ;
}
/*
* Screen orientatoin: the "floor" is the XZ plane, and Y is height; in other
* words, the screen is the XY plane and negative Z goes into it.
*/
/* prh.xyz -> pitch, roll, heading */
void RageQuatFromPRH(RageVector4* pOut, RageVector3 prh )
{
prh *= PI;
prh /= 180.0f;
prh /= 2.0f;
/* Set cX to the cosine of the angle we want to rotate on the X axis,
* and so on. Here, hpr.z (roll) rotates on the Z axis, hpr.x (heading)
* on Y, and hpr.y (pitch) on X. */
const float cZ = cosf(hpr.z);
const float cY = cosf(hpr.x);
const float cX = cosf(hpr.y);
const float sX = sinf(prh.y);
const float cX = cosf(prh.y);
const float sY = sinf(prh.x);
const float cY = cosf(prh.x);
const float sZ = sinf(prh.z);
const float cZ = cosf(prh.z);
const float sZ = sinf(hpr.z);
const float sY = sinf(hpr.x);
const float sX = sinf(hpr.y);
const float cYcZ = cY * cZ;
const float sYsZ = sY * sZ;
pOut->w = cX * cYcZ + sX * sYsZ;
pOut->x = sX * cYcZ - cX * sYsZ;
pOut->w = cX * cY * cZ + sX * sY * sZ;
pOut->x = sX * cY * cZ - cX * sY * sZ;
pOut->y = cX * sY * cZ + sX * cY * sZ;
pOut->z = cX * cY * sZ - sX * sY * cZ;
}