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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/fvector.h"
#include "titanic/star_control/fpose.h"
#include "common/math.h"
namespace Titanic {
FVector FVector::swapComponents() const {
return FVector(
(ABS(_x - _y) < 0.00001 && ABS(_y - _z) < 0.00001 &&
ABS(_x - _z) < 0.00001) ? -_y : _y,
_z,
_x
);
}
FVector FVector::crossProduct(const FVector &src) const {
return FVector(
src._z * _y - _z * src._y,
src._x * _z - _x * src._z,
src._y * _x - _y * src._x
);
}
void FVector::rotVectAxisY(float angleDeg) {
float sinVal = sin(Common::deg2rad<double>(angleDeg));
float cosVal = cos(Common::deg2rad<double>(angleDeg));
float x = cosVal * _x - sinVal * _z;
float z = cosVal * _z + sinVal * _x;
_x = x;
_z = z;
}
bool FVector::normalize(float & 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;
}
FVector FVector::addAndNormalize(const FVector &v) const {
FVector tempV(_x + v._x, _y + v._y, _z + v._z);
float unusedScale = 0.0;
if (!tempV.normalize(unusedScale)) {
// Do the normalization, put the scale amount in unusedScale,
// but if it is unsuccessful, crash
assert(unusedScale);
}
return tempV;
}
FVector FVector::getAnglesAsVect() const {
FVector vector = *this;
FVector 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;
}
float FVector::getDistance(const FVector &src) const {
float xd = src._x - _x;
float yd = src._y - _y;
float zd = src._z - _z;
return sqrt(xd * xd + yd * yd + zd * zd);
}
FVector FVector::matProdRowVect(const FPose &pose) const {
FVector v;
v._x = pose._row2._x * _y + pose._row3._x * _z + pose._row1._x * _x + pose._vector._x;
v._y = pose._row2._y * _y + pose._row3._y * _z + pose._row1._y * _x + pose._vector._y;
v._z = pose._row3._z * _z + pose._row2._z * _y + pose._row1._z * _x + pose._vector._z;
return v;
}
FPose FVector::getFrameTransform(const FVector &v) {
FPose matrix1, matrix2, matrix3, matrix4;
FVector vector1 = getAnglesAsVect();
matrix1.setRotationMatrix(X_AXIS, Common::rad2deg<double>(vector1._y));
matrix2.setRotationMatrix(Y_AXIS, Common::rad2deg<double>(vector1._z));
fposeProd(matrix1, matrix2, matrix3);
matrix4 = matrix3.inverseTransform();
vector1 = v.getAnglesAsVect();
matrix1.setRotationMatrix(X_AXIS, Common::rad2deg<double>(vector1._y));
matrix2.setRotationMatrix(Y_AXIS, Common::rad2deg<double>(vector1._z));
fposeProd(matrix1, matrix2, matrix3);
fposeProd(matrix4, matrix3, matrix1);
return matrix1;
}
FPose FVector::formRotXY() const {
FVector v1 = getAnglesAsVect();
FPose m1, m2;
m1.setRotationMatrix(X_AXIS, Common::rad2deg<double>(v1._y));
m2.setRotationMatrix(Y_AXIS, Common::rad2deg<double>(v1._z));
FPose m3;
fposeProd(m1, m2, m3);
return m3;
}
Common::String FVector::toString() const {
return Common::String::format("(%.3f,%.3f,%.3f)", _x, _y, _z);
}
} // End of namespace Titanic
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