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 void ToVectors(ref idVec3 forward, ref idVec3 right, ref idVec3 up)
{
float sr, sp, sy, cr, cp, cy;
idMath.SinCos(DEG2RAD(yaw), out sy, out cy);
idMath.SinCos(DEG2RAD(pitch), out sp, out cp);
idMath.SinCos(DEG2RAD(roll), out sr, out cr);
if (forward != null)
{
forward.Set(cp * cy, cp * sy, -sp);
}
if (right != null)
{
right.Set(-sr * sp * cy + cr * sy, -sr * sp * sy + -cr * cy, -sr * cp);
}
if (up != null)
{
up.Set(cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp);
}
}
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()
{
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);
}
public void ToVectors(ref idVec3 forward, ref idVec3 right, ref idVec3 up)
{
float sr, sp, sy, cr, cp, cy;
idMath.SinCos(DEG2RAD(yaw), out sy, out cy);
idMath.SinCos(DEG2RAD(pitch), out sp, out cp);
idMath.SinCos(DEG2RAD(roll), out sr, out cr);
if (forward != null) forward.Set(cp * cy, cp * sy, -sp);
if (right != null) right.Set(-sr * sp * cy + cr * sy, -sr * sp * sy + -cr * cy, -sr * cp);
if (up != null) up.Set(cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp);
}
static void UnpackColor(uint color, ref idVec3 unpackedColor)
{
unpackedColor.Set(((color >> 0) & 255) * (1.0f / 255.0f),
((color >> 8) & 255) * (1.0f / 255.0f),
((color >> 16) & 255) * (1.0f / 255.0f));
}