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/* ScummVM - Graphic Adventure Engine
*
* ScummVM is the legal property of its developers, whose names
* are too numerous to list here. Please refer to the COPYRIGHT
* file distributed with this source distribution.
*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
#include "titanic/star_control/dvector.h"
#include "titanic/star_control/daffine.h"
#include "common/algorithm.h"
namespace Titanic {
bool DVector::normalize(double & hyp) {
hyp = sqrt(_x * _x + _y * _y + _z * _z);
if (hyp==0) {
return false;
}
_x *= 1.0 / hyp;
_y *= 1.0 / hyp;
_z *= 1.0 / hyp;
return true;
}
double DVector::getDistance(const DVector &src) {
return sqrt((src._x - _x) * (src._x - _x) + (src._y - _y) * (src._y - _y) + (src._z - _z) * (src._z - _z));
}
DVector DVector::dAffMatrixProdVec(const DAffine &m) {
DVector dest;
dest._x = m._col1._x * _x
+ m._col2._x * _y + m._col3._x * _z
+ m._col4._x;
dest._y = m._col1._y * _x
+ m._col2._y * _y + m._col3._y * _z
+ m._col4._y;
dest._z = m._col1._z * _x
+ m._col2._z * _y + m._col3._z * _z
+ m._col4._z;
return dest;
}
void DVector::rotVectAxisY(double angleDeg) {
double sinVal = sin(angleDeg * Deg2Rad);
double cosVal = cos(angleDeg * Deg2Rad);
double x = cosVal * _x - sinVal * _z;
double z = cosVal * _z + sinVal * _x;
_x = x;
_z = z;
}
DVector DVector::getAnglesAsVect() const {
DVector vector = *this;
DVector dest;
if (!vector.normalize(dest._x)) {
// Makes this vector have magnitude=1, put the scale amount in dest._x,
// but if it is unsuccessful, crash
assert(dest._x);
}
dest._y = acos(vector._y); // radian distance/angle that this vector's y component is from the +y axis,
// result is restricted to [0,pi]
dest._z = atan2(vector._x,vector._z); // result is restricted to [-pi,pi]
return dest;
}
DAffine DVector::getFrameTransform(const DVector &v) {
DAffine matrix1, matrix2, matrix3, matrix4;
DVector vector1 = getAnglesAsVect();
matrix1.setRotationMatrix(X_AXIS, vector1._y * Rad2Deg);
matrix2.setRotationMatrix(Y_AXIS, vector1._z * Rad2Deg);
matrix3 = matrix1.compose(matrix2);
matrix4 = matrix3.inverseTransform();
vector1 = v.getAnglesAsVect();
matrix1.setRotationMatrix(X_AXIS, vector1._y * Rad2Deg);
matrix2.setRotationMatrix(Y_AXIS, vector1._z * Rad2Deg);
matrix3 = matrix1.compose(matrix2);
return matrix4.compose(matrix3);
}
DAffine DVector::rotXY() const {
DVector v1 = getAnglesAsVect();
DAffine m1, m2;
m1.setRotationMatrix(X_AXIS, v1._y * Rad2Deg);
m2.setRotationMatrix(Y_AXIS, v1._z * Rad2Deg);
return m1.compose(m2);
}
} // End of namespace Titanic
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