mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-01-20 20:54:46 +00:00
107 lines
3.1 KiB
C++
107 lines
3.1 KiB
C++
//-----------------------------------------------------------------------------
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// Copyright (c) 2012 GarageGames, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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//-----------------------------------------------------------------------------
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#ifndef _MANGAXIS_H_
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#define _MANGAXIS_H_
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#ifndef _MPOINT3_H_
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#include "math/mPoint3.h"
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#endif
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class MatrixF;
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class QuatF;
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//----------------------------------------------------------------------------
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// rotation about an arbitrary axis through the origin:
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class AngAxisF
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{
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public:
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Point3F axis;
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F32 angle;
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AngAxisF();
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AngAxisF( const Point3F & _axis, F32 _angle );
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explicit AngAxisF( const MatrixF &m );
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explicit AngAxisF( const QuatF &q );
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AngAxisF& set( const Point3F & _axis, F32 _angle );
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AngAxisF& set( const MatrixF & m );
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AngAxisF& set( const QuatF & q );
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bool operator ==( const AngAxisF & c ) const;
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bool operator !=( const AngAxisF & c ) const;
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MatrixF * setMatrix( MatrixF * mat ) const;
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static void RotateX(F32 angle, MatrixF * mat);
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static void RotateY(F32 angle, MatrixF * mat);
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static void RotateZ(F32 angle, MatrixF * mat);
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static void RotateX(F32 angle, const Point3F & from, Point3F * to);
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static void RotateY(F32 angle, const Point3F & from, Point3F * to);
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static void RotateZ(F32 angle, const Point3F & from, Point3F * to);
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};
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//----------------------------------------------------------------------------
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// AngAxisF implementation:
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inline AngAxisF::AngAxisF()
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{
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axis = Point3F(0.0f,0.0f,1.0f);
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angle = 0.0f;
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}
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inline AngAxisF::AngAxisF( const Point3F & _axis, F32 _angle )
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{
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set(_axis,_angle);
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}
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inline AngAxisF::AngAxisF( const MatrixF & mat )
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{
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set(mat);
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}
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inline AngAxisF::AngAxisF( const QuatF & quat )
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{
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set(quat);
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}
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inline AngAxisF& AngAxisF::set( const Point3F & _axis, F32 _angle )
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{
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axis = _axis;
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angle = _angle;
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return *this;
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}
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inline bool AngAxisF::operator ==( const AngAxisF & c ) const
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{
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return mFabs(angle-c.angle) < 0.0001f && (axis == c.axis);
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}
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inline bool AngAxisF::operator !=( const AngAxisF & c ) const
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{
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return !(*this == c);
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}
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#endif // _MANGAXIS_H_
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