# quake3 / code / splines / math_angles.cpp

 ``` 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150``` ```/* =========================================================================== Copyright (C) 1999-2005 Id Software, Inc. This file is part of Quake III Arena source code. Quake III Arena source code is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. Quake III Arena source code is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Foobar; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA =========================================================================== */ #include "q_shared.h" #include angles_t ang_zero( 0.0f, 0.0f, 0.0f ); void toAngles( mat3_t &src, angles_t &dst ) { double theta; double cp; double sp; sp = src[ 0 ][ 2 ]; // cap off our sin value so that we don't get any NANs if ( sp > 1.0 ) { sp = 1.0; } else if ( sp < -1.0 ) { sp = -1.0; } theta = -asin( sp ); cp = cos( theta ); if ( cp > 8192 * FLT_EPSILON ) { dst.pitch = theta * 180 / M_PI; dst.yaw = atan2( src[ 0 ][ 1 ], src[ 0 ][ 0 ] ) * 180 / M_PI; dst.roll = atan2( src[ 1 ][ 2 ], src[ 2 ][ 2 ] ) * 180 / M_PI; } else { dst.pitch = theta * 180 / M_PI; dst.yaw = -atan2( src[ 1 ][ 0 ], src[ 1 ][ 1 ] ) * 180 / M_PI; dst.roll = 0; } } void toAngles( quat_t &src, angles_t &dst ) { mat3_t temp; toMatrix( src, temp ); toAngles( temp, dst ); } void toAngles( idVec3_t &src, angles_t &dst ) { dst.pitch = src[ 0 ]; dst.yaw = src[ 1 ]; dst.roll = src[ 2 ]; } void angles_t::toVectors( idVec3_t *forward, idVec3_t *right, idVec3_t *up ) { float angle; static float sr, sp, sy, cr, cp, cy; // static to help MS compiler fp bugs angle = yaw * ( M_PI * 2 / 360 ); sy = sin( angle ); cy = cos( angle ); angle = pitch * ( M_PI * 2 / 360 ); sp = sin( angle ); cp = cos( angle ); angle = roll * ( M_PI * 2 / 360 ); sr = sin( angle ); cr = cos( angle ); if ( forward ) { forward->set( cp * cy, cp * sy, -sp ); } if ( right ) { right->set( -sr * sp * cy + cr * sy, -sr * sp * sy + -cr * cy, -sr * cp ); } if ( up ) { up->set( cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp ); } } idVec3_t angles_t::toForward( void ) { float angle; static float sp, sy, cp, cy; // static to help MS compiler fp bugs angle = yaw * ( M_PI * 2 / 360 ); sy = sin( angle ); cy = cos( angle ); angle = pitch * ( M_PI * 2 / 360 ); sp = sin( angle ); cp = cos( angle ); return idVec3_t( cp * cy, cp * sy, -sp ); } /* ================= Normalize360 returns angles normalized to the range [0 <= angle < 360] ================= */ angles_t& angles_t::Normalize360( void ) { pitch = (360.0 / 65536) * ( ( int )( pitch * ( 65536 / 360.0 ) ) & 65535 ); yaw = (360.0 / 65536) * ( ( int )( yaw * ( 65536 / 360.0 ) ) & 65535 ); roll = (360.0 / 65536) * ( ( int )( roll * ( 65536 / 360.0 ) ) & 65535 ); return *this; } /* ================= Normalize180 returns angles normalized to the range [-180 < angle <= 180] ================= */ angles_t& angles_t::Normalize180( void ) { Normalize360(); if ( pitch > 180.0 ) { pitch -= 360.0; } if ( yaw > 180.0 ) { yaw -= 360.0; } if ( roll > 180.0 ) { roll -= 360.0; } return *this; } ```