public SourceQAngle ToQAngle()
{
SourceQAngle anglesOut = new SourceQAngle();
MathUtils.QuaternionAngles(this, ref anglesOut);
return(anglesOut);
}
public SourceQAngle ToQAngle()
{
SourceQAngle angles = new SourceQAngle();
MathUtils.QuaternionAngles(m_orientation, ref angles);
return(angles);
}
public static void MatrixQuaternion(SourceMatrix3x4 mat, ref SourceQuaternion q)
{
SourceQAngle angles = new SourceQAngle();
MatrixAngles(mat, ref angles);
AngleQuaternion(angles, ref q);
}
public static SourceMatrix3x4 AngleMatrix(SourceQAngle angles)
{
//float sr, sp, sy, cr, cp, cy;
//SinCos(DEG2RAD(angles[YAW]), &sy, &cy);
//SinCos(DEG2RAD(angles[PITCH]), &sp, &cp);
//SinCos(DEG2RAD(angles[ROLL]), &sr, &cr);
//SourceMatrix3x4 matrix;
//// matrix = (YAW * PITCH) * ROLL
//matrix[0][0] = cp * cy;
//matrix[1][0] = cp * sy;
//matrix[2][0] = -sp;
//// NOTE: Do not optimize this to reduce multiplies! optimizer bug will screw this up.
//matrix[0][1] = sr * sp * cy + cr * -sy;
//matrix[1][1] = sr * sp * sy + cr * cy;
//matrix[2][1] = sr * cp;
//matrix[0][2] = (cr * sp * cy + -sr * -sy);
//matrix[1][2] = (cr * sp * sy + -sr * cy);
//matrix[2][2] = cr * cp;
//matrix[0][3] = 0.0f;
//matrix[1][3] = 0.0f;
//matrix[2][3] = 0.0f;
//return matrix;
throw new NotImplementedException();
}
public static void AngleMatrix(SourceQAngle angles, ref SourceMatrix3x4 matrix)
{
float sr, sp, sy, cr, cp, cy;
SinCos(DEG2RAD(angles[1]), out sy, out cy);
SinCos(DEG2RAD(angles[0]), out sp, out cp);
SinCos(DEG2RAD(angles[2]), out sr, out cr);
// matrix = (YAW * PITCH) * ROLL
matrix[0][0] = cp * cy;
matrix[1][0] = cp * sy;
matrix[2][0] = -sp;
// NOTE: Do not optimize this to reduce multiplies! optimizer bug will screw this up.
matrix[0][1] = sr * sp * cy + cr * -sy;
matrix[1][1] = sr * sp * sy + cr * cy;
matrix[2][1] = sr * cp;
matrix[0][2] = (cr * sp * cy + -sr * -sy);
matrix[1][2] = (cr * sp * sy + -sr * cy);
matrix[2][2] = cr * cp;
matrix[0][3] = 0.0f;
matrix[1][3] = 0.0f;
matrix[2][3] = 0.0f;
}
public static void QuaternionAngles(SourceQuaternion q, ref SourceQAngle angles)
{
// FIXME: doing it this way calculates too much data, needs to do an optimized version...
SourceMatrix3x4 matrix = new SourceMatrix3x4();
QuaternionMatrix(q, ref matrix);
MatrixAngles(matrix, ref angles);
}
public static void AngleQuaternion(SourceQAngle angles, ref SourceQuaternion outQuat)
{
float sr, sp, sy, cr, cp, cy;
SinCos(DEG2RAD(angles.y) * 0.5f, out sy, out cy);
SinCos(DEG2RAD(angles.x) * 0.5f, out sp, out cp);
SinCos(DEG2RAD(angles.z) * 0.5f, out sr, out cr);
// NJS: for some reason VC6 wasn't recognizing the common subexpressions:
float srXcp = sr * cp, crXsp = cr * sp;
outQuat.x = srXcp * cy - crXsp * sy; // X
outQuat.y = crXsp * cy + srXcp * sy; // Y
float crXcp = cr * cp, srXsp = sr * sp;
outQuat.z = crXcp * sy - srXsp * cy; // Z
outQuat.w = crXcp * cy + srXsp * sy; // W (real component)
}
public SourceRadianEuler(SourceQAngle angles)
{
Init(angles.z * 3.14159265358979323846f / 180.0f,
angles.x * 3.14159265358979323846f / 180.0f,
angles.y * 3.14159265358979323846f / 180.0f);
}
public void SetAngles(SourceQAngle vAngles)
{
MathUtils.AngleQuaternion(vAngles, ref m_orientation);
}
// for API compatibility with matrix3x4_t
public void InitFromQAngles(SourceQAngle angles, SourceVector vPosition)
{
MathUtils.AngleQuaternion(angles, ref m_orientation);
m_vPosition = vPosition;
}
public SourceCTransform(SourceVector v, SourceQAngle a)
{
m_vPosition = v;
MathUtils.AngleQuaternion(a, ref m_orientation);
}
public static void MatrixAngles(SourceMatrix3x4 matrix, ref SourceQAngle angles)
{
//MatrixAngles(matrix, out angles.x);
throw new NotImplementedException();
}
public static void AngleMatrix(SourceRadianEuler angles, ref SourceMatrix3x4 matrix)
{
SourceQAngle quakeEuler = new SourceQAngle(RAD2DEG(angles.y), RAD2DEG(angles.z), RAD2DEG(angles.x));
AngleMatrix(quakeEuler, ref matrix);
}
public static void AngleMatrix(SourceQAngle angles, SourceVector position, ref SourceMatrix3x4 matrix)
{
AngleMatrix(angles, ref matrix);
MatrixSetColumn(position, 3, ref matrix);
}
public SourceDegreeEuler(SourceQAngle angles)
{
Init(angles.z, angles.x, angles.y);
}
