139 lines
3.1 KiB
C++
139 lines
3.1 KiB
C++
//========= Copyright © 1996-2002, Valve LLC, All rights reserved. ============
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//
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// Purpose:
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//
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// $NoKeywords: $
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//=============================================================================
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#include <memory.h>
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#include "hud.h"
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#include "cl_util.h"
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#include "const.h"
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#include "com_model.h"
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#include "studio_util.h"
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// angles index are not the same as ROLL, PITCH, YAW
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/*
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====================
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AngleQuaternion
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====================
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*/
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void AngleQuaternion(float* angles, vec4_t quaternion)
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{
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float angle;
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float sr, sp, sy, cr, cp, cy;
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// FIXME: rescale the inputs to 1/2 angle
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angle = angles[2] * 0.5;
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sy = sin(angle);
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cy = cos(angle);
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angle = angles[1] * 0.5;
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sp = sin(angle);
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cp = cos(angle);
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angle = angles[0] * 0.5;
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sr = sin(angle);
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cr = cos(angle);
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quaternion[0] = sr * cp * cy - cr * sp * sy; // X
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quaternion[1] = cr * sp * cy + sr * cp * sy; // Y
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quaternion[2] = cr * cp * sy - sr * sp * cy; // Z
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quaternion[3] = cr * cp * cy + sr * sp * sy; // W
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}
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/*
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====================
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QuaternionSlerp
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====================
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*/
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void QuaternionSlerp(vec4_t p, vec4_t q, float t, vec4_t qt)
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{
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int i;
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float omega, cosom, sinom, sclp, sclq;
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// decide if one of the quaternions is backwards
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float a = 0;
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float b = 0;
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for (i = 0; i < 4; i++)
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{
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a += (p[i] - q[i]) * (p[i] - q[i]);
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b += (p[i] + q[i]) * (p[i] + q[i]);
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}
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if (a > b)
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{
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for (i = 0; i < 4; i++)
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{
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q[i] = -q[i];
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}
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}
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cosom = p[0] * q[0] + p[1] * q[1] + p[2] * q[2] + p[3] * q[3];
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if ((1.0 + cosom) > 0.000001)
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{
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if ((1.0 - cosom) > 0.000001)
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{
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omega = acos(cosom);
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sinom = sin(omega);
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sclp = sin((1.0 - t) * omega) / sinom;
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sclq = sin(t * omega) / sinom;
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}
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else
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{
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sclp = 1.0 - t;
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sclq = t;
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}
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for (i = 0; i < 4; i++)
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{
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qt[i] = sclp * p[i] + sclq * q[i];
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}
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}
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else
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{
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qt[0] = -q[1];
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qt[1] = q[0];
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qt[2] = -q[3];
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qt[3] = q[2];
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sclp = sin((1.0 - t) * (0.5 * M_PI));
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sclq = sin(t * (0.5 * M_PI));
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for (i = 0; i < 3; i++)
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{
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qt[i] = sclp * p[i] + sclq * qt[i];
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}
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}
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}
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/*
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====================
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QuaternionMatrix
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====================
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*/
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void QuaternionMatrix(vec4_t quaternion, float (*matrix)[4])
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{
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matrix[0][0] = 1.0 - 2.0 * quaternion[1] * quaternion[1] - 2.0 * quaternion[2] * quaternion[2];
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matrix[1][0] = 2.0 * quaternion[0] * quaternion[1] + 2.0 * quaternion[3] * quaternion[2];
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matrix[2][0] = 2.0 * quaternion[0] * quaternion[2] - 2.0 * quaternion[3] * quaternion[1];
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matrix[0][1] = 2.0 * quaternion[0] * quaternion[1] - 2.0 * quaternion[3] * quaternion[2];
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matrix[1][1] = 1.0 - 2.0 * quaternion[0] * quaternion[0] - 2.0 * quaternion[2] * quaternion[2];
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matrix[2][1] = 2.0 * quaternion[1] * quaternion[2] + 2.0 * quaternion[3] * quaternion[0];
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matrix[0][2] = 2.0 * quaternion[0] * quaternion[2] + 2.0 * quaternion[3] * quaternion[1];
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matrix[1][2] = 2.0 * quaternion[1] * quaternion[2] - 2.0 * quaternion[3] * quaternion[0];
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matrix[2][2] = 1.0 - 2.0 * quaternion[0] * quaternion[0] - 2.0 * quaternion[1] * quaternion[1];
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}
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/*
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====================
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MatrixCopy
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====================
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*/
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void MatrixCopy(float in[3][4], float out[3][4])
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{
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memcpy(out, in, sizeof(float) * 3 * 4);
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}
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