public idVec3 ToAngularVelocity()
{
idVec3 vec = new idVec3();
vec.x = x;
vec.y = y;
vec.z = z;
vec.Normalize();
return(vec * idMath.ACos(w));
}
public idRotation ToRotation()
{
if (pitch == 0.0f)
{
if (yaw == 0.0f)
{
return(new idRotation(idvec3.origin, new idVec3(-1.0f, 0.0f, 0.0f), roll));
}
if (roll == 0.0f)
{
return(new idRotation(idVec3.origin, new idVec3(0.0f, 0.0f, -1.0f), yaw));
}
}
else if (yaw == 0.0f && roll == 0.0f)
{
return(new idRotation(idVec3.origin, new idVec3(0.0f, -1.0f, 0.0f), pitch));
}
float sx, cx, sy, cy, sz, cz;
idMath.SinCos(DEG2RAD(yaw) * 0.5f, out sz, out cz);
idMath.SinCos(DEG2RAD(pitch) * 0.5f, out sy, out cy);
idMath.SinCos(DEG2RAD(roll) * 0.5f, out sx, out cx);
float sxcy = sx * cy;
float cxcy = cx * cy;
float sxsy = sx * sy;
float cxsy = cx * sy;
//
idVec3 vec = new idVec3();
vec.x = cxsy * sz - sxcy * cz;
vec.y = -cxsy * cz - sxcy * sz;
vec.z = sxsy * cz - cxcy * sz;
float w = cxcy * cz + sxsy * sz;
float angle = idMath.ACos(w);
if (angle == 0.0f)
{
vec.Set(0.0f, 0.0f, 1.0f);
}
else
{
//vec *= (1.0f / sin( angle ));
vec.Normalize();
vec.FixDegenerateNormal();
angle *= 2.0f * idMath.M_RAD2DEG;
}
return(new idRotation(idVec3.origin, vec, angle));
}
public static bool ProjectAlongPlane(idVec3 t, idVec3 normal, float epsilon, float overBounce)
{
idVec3 cross = t.Cross(normal).Cross(t);
// normalize so a fixed epsilon can be used
cross.Normalize();
float len = normal * cross;
if (idMath.Fabs(len) < epsilon)
{
return(false);
}
cross.opMul(overBounce * (normal * t) / len);
t.opSub(cross);
return(true);
}
public idRotation ToRotation()
{
idVec3 vec = new idVec3();
vec.x = x;
vec.y = y;
vec.z = z;
float angle = idMath.ACos(w);
if (angle == 0.0f)
{
vec.Set(0.0f, 0.0f, 1.0f);
}
else
{
//vec *= (1.0f / sin( angle ));
vec.Normalize();
vec.FixDegenerateNormal();
angle *= 2.0f * idMath.M_RAD2DEG;
}
return(new idRotation(idVec3.origin, vec, angle));
}
public idVec3 ToAngularVelocity()
{
idVec3 vec = new idVec3();
vec.x = x;
vec.y = y;
vec.z = z;
vec.Normalize();
return vec * idMath.ACos(w);
}
public idRotation ToRotation()
{
idVec3 vec = new idVec3();
vec.x = x;
vec.y = y;
vec.z = z;
float angle = idMath.ACos(w);
if (angle == 0.0f)
{
vec.Set(0.0f, 0.0f, 1.0f);
}
else
{
//vec *= (1.0f / sin( angle ));
vec.Normalize();
vec.FixDegenerateNormal();
angle *= 2.0f * idMath.M_RAD2DEG;
}
return new idRotation(idVec3.origin, vec, angle);
}
public idRotation ToRotation()
{
if (pitch == 0.0f)
{
if (yaw == 0.0f) return new idRotation(idvec3.origin, new idVec3(-1.0f, 0.0f, 0.0f), roll);
if (roll == 0.0f) return new idRotation(idVec3.origin, new idVec3(0.0f, 0.0f, -1.0f), yaw);
}
else if (yaw == 0.0f && roll == 0.0f) return new idRotation(idVec3.origin, new idVec3(0.0f, -1.0f, 0.0f), pitch);
float sx, cx, sy, cy, sz, cz;
idMath.SinCos(DEG2RAD(yaw) * 0.5f, out sz, out cz);
idMath.SinCos(DEG2RAD(pitch) * 0.5f, out sy, out cy);
idMath.SinCos(DEG2RAD(roll) * 0.5f, out sx, out cx);
float sxcy = sx * cy;
float cxcy = cx * cy;
float sxsy = sx * sy;
float cxsy = cx * sy;
//
idVec3 vec = new idVec3();
vec.x = cxsy * sz - sxcy * cz;
vec.y = -cxsy * cz - sxcy * sz;
vec.z = sxsy * cz - cxcy * sz;
float w = cxcy * cz + sxsy * sz;
float angle = idMath.ACos(w);
if (angle == 0.0f)
vec.Set(0.0f, 0.0f, 1.0f);
else
{
//vec *= (1.0f / sin( angle ));
vec.Normalize();
vec.FixDegenerateNormal();
angle *= 2.0f * idMath.M_RAD2DEG;
}
return new idRotation(idVec3.origin, vec, angle);
}