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https://github.com/DarkflameUniverse/DarkflameServer.git
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format codebase
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aronwk-aaron
@@ -8,18 +8,18 @@ const NiQuaternion NiQuaternion::IDENTITY(1, 0, 0, 0);
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//! The initializer
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NiQuaternion::NiQuaternion(void) {
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this->w = 1;
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this->x = 0;
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this->y = 0;
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this->z = 0;
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this->w = 1;
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this->x = 0;
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this->y = 0;
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this->z = 0;
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}
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//! The initializer
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NiQuaternion::NiQuaternion(float w, float x, float y, float z) {
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this->w = w;
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this->x = x;
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this->y = y;
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this->z = z;
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this->w = w;
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this->x = x;
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this->y = y;
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this->z = z;
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}
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//! Destructor
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@@ -30,42 +30,42 @@ NiQuaternion::~NiQuaternion(void) {}
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//! Gets the W coordinate
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float NiQuaternion::GetW(void) const {
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return this->w;
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return this->w;
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}
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//! Sets the W coordinate
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void NiQuaternion::SetW(float w) {
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this->w = w;
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this->w = w;
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}
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//! Gets the X coordinate
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float NiQuaternion::GetX(void) const {
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return this->x;
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return this->x;
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}
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//! Sets the X coordinate
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void NiQuaternion::SetX(float x) {
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this->x = x;
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this->x = x;
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}
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//! Gets the Y coordinate
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float NiQuaternion::GetY(void) const {
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return this->y;
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return this->y;
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}
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//! Sets the Y coordinate
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void NiQuaternion::SetY(float y) {
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this->y = y;
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this->y = y;
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}
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//! Gets the Z coordinate
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float NiQuaternion::GetZ(void) const {
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return this->z;
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return this->z;
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}
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//! Sets the Z coordinate
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void NiQuaternion::SetZ(float z) {
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this->z = z;
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this->z = z;
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}
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@@ -73,55 +73,54 @@ void NiQuaternion::SetZ(float z) {
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//! Returns the forward vector from the quaternion
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Vector3 NiQuaternion::GetForwardVector(void) const {
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return Vector3(2 * (x * z + w * y), 2 * (y * z - w * x), 1 - 2 * (x * x + y * y));
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return Vector3(2 * (x * z + w * y), 2 * (y * z - w * x), 1 - 2 * (x * x + y * y));
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}
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//! Returns the up vector from the quaternion
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Vector3 NiQuaternion::GetUpVector(void) const {
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return Vector3(2 * (x * y - w * z), 1 - 2 * (x * x + z * z), 2 * (y * z + w * x));
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return Vector3(2 * (x * y - w * z), 1 - 2 * (x * x + z * z), 2 * (y * z + w * x));
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}
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//! Returns the right vector from the quaternion
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Vector3 NiQuaternion::GetRightVector(void) const {
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return Vector3(1 - 2 * (y * y + z * z), 2 * (x * y + w * z), 2 * (x * z - w * y));
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return Vector3(1 - 2 * (y * y + z * z), 2 * (x * y + w * z), 2 * (x * z - w * y));
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}
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Vector3 NiQuaternion::GetEulerAngles() const {
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Vector3 angles;
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Vector3 angles;
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// roll (x-axis rotation)
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const float sinr_cosp = 2 * (w * x + y * z);
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const float cosr_cosp = 1 - 2 * (x * x + y * y);
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angles.x = std::atan2(sinr_cosp, cosr_cosp);
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// roll (x-axis rotation)
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const float sinr_cosp = 2 * (w * x + y * z);
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const float cosr_cosp = 1 - 2 * (x * x + y * y);
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angles.x = std::atan2(sinr_cosp, cosr_cosp);
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// pitch (y-axis rotation)
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const float sinp = 2 * (w * y - z * x);
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if (std::abs(sinp) >= 1) {
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angles.y = std::copysign(3.14 / 2, sinp); // use 90 degrees if out of range
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}
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else {
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angles.y = std::asin(sinp);
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}
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// pitch (y-axis rotation)
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const float sinp = 2 * (w * y - z * x);
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// yaw (z-axis rotation)
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const float siny_cosp = 2 * (w * z + x * y);
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const float cosy_cosp = 1 - 2 * (y * y + z * z);
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angles.z = std::atan2(siny_cosp, cosy_cosp);
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if (std::abs(sinp) >= 1) {
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angles.y = std::copysign(3.14 / 2, sinp); // use 90 degrees if out of range
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} else {
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angles.y = std::asin(sinp);
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}
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return angles;
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// yaw (z-axis rotation)
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const float siny_cosp = 2 * (w * z + x * y);
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const float cosy_cosp = 1 - 2 * (y * y + z * z);
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angles.z = std::atan2(siny_cosp, cosy_cosp);
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return angles;
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}
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// MARK: Operators
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//! Operator to check for equality
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bool NiQuaternion::operator==(const NiQuaternion& rot) const {
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return rot.x == this->x && rot.y == this->y && rot.z == this->z && rot.w == this->w;
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return rot.x == this->x && rot.y == this->y && rot.z == this->z && rot.w == this->w;
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}
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//! Operator to check for inequality
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bool NiQuaternion::operator!=(const NiQuaternion& rot) const {
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return !(*this == rot);
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return !(*this == rot);
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}
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@@ -135,65 +134,63 @@ NiQuaternion NiQuaternion::LookAt(const NiPoint3& sourcePoint, const NiPoint3& d
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source.y = 0.0f;
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dest.y = 0.0f;
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NiPoint3 forwardVector = NiPoint3(dest - source).Unitize();
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NiPoint3 posZ = NiPoint3::UNIT_Z;
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NiPoint3 vecA = posZ.CrossProduct(forwardVector).Unitize();
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float dot = posZ.DotProduct(forwardVector);
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float rotAngle = static_cast<float>(acos(dot));
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NiPoint3 vecB = vecA.CrossProduct(posZ);
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if (vecB.DotProduct(forwardVector) < 0) rotAngle = -rotAngle;
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return NiQuaternion::CreateFromAxisAngle(vecA, rotAngle);
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NiPoint3 forwardVector = NiPoint3(dest - source).Unitize();
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NiPoint3 posZ = NiPoint3::UNIT_Z;
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NiPoint3 vecA = posZ.CrossProduct(forwardVector).Unitize();
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float dot = posZ.DotProduct(forwardVector);
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float rotAngle = static_cast<float>(acos(dot));
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NiPoint3 vecB = vecA.CrossProduct(posZ);
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if (vecB.DotProduct(forwardVector) < 0) rotAngle = -rotAngle;
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return NiQuaternion::CreateFromAxisAngle(vecA, rotAngle);
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}
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NiQuaternion NiQuaternion::LookAtUnlocked(const NiPoint3& sourcePoint, const NiPoint3& destPoint)
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{
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NiPoint3 forwardVector = NiPoint3(destPoint - sourcePoint).Unitize();
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NiPoint3 posZ = NiPoint3::UNIT_Z;
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NiPoint3 vecA = posZ.CrossProduct(forwardVector).Unitize();
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float dot = posZ.DotProduct(forwardVector);
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float rotAngle = static_cast<float>(acos(dot));
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NiPoint3 vecB = vecA.CrossProduct(posZ);
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if (vecB.DotProduct(forwardVector) < 0) rotAngle = -rotAngle;
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return NiQuaternion::CreateFromAxisAngle(vecA, rotAngle);
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NiQuaternion NiQuaternion::LookAtUnlocked(const NiPoint3& sourcePoint, const NiPoint3& destPoint) {
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NiPoint3 forwardVector = NiPoint3(destPoint - sourcePoint).Unitize();
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NiPoint3 posZ = NiPoint3::UNIT_Z;
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NiPoint3 vecA = posZ.CrossProduct(forwardVector).Unitize();
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float dot = posZ.DotProduct(forwardVector);
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float rotAngle = static_cast<float>(acos(dot));
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NiPoint3 vecB = vecA.CrossProduct(posZ);
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if (vecB.DotProduct(forwardVector) < 0) rotAngle = -rotAngle;
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return NiQuaternion::CreateFromAxisAngle(vecA, rotAngle);
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}
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//! Creates a Quaternion from a specific axis and angle relative to that axis
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NiQuaternion NiQuaternion::CreateFromAxisAngle(const Vector3& axis, float angle) {
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float halfAngle = angle * 0.5f;
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float s = static_cast<float>(sin(halfAngle));
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NiQuaternion q;
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q.x = axis.GetX() * s;
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q.y = axis.GetY() * s;
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q.z = axis.GetZ() * s;
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q.w = static_cast<float>(cos(halfAngle));
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return q;
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float halfAngle = angle * 0.5f;
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float s = static_cast<float>(sin(halfAngle));
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NiQuaternion q;
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q.x = axis.GetX() * s;
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q.y = axis.GetY() * s;
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q.z = axis.GetZ() * s;
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q.w = static_cast<float>(cos(halfAngle));
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return q;
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}
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NiQuaternion NiQuaternion::FromEulerAngles(const NiPoint3& eulerAngles)
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{
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// Abbreviations for the various angular functions
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float cy = cos(eulerAngles.z * 0.5);
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float sy = sin(eulerAngles.z * 0.5);
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float cp = cos(eulerAngles.y * 0.5);
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float sp = sin(eulerAngles.y * 0.5);
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float cr = cos(eulerAngles.x * 0.5);
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float sr = sin(eulerAngles.x * 0.5);
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NiQuaternion NiQuaternion::FromEulerAngles(const NiPoint3& eulerAngles) {
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// Abbreviations for the various angular functions
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float cy = cos(eulerAngles.z * 0.5);
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float sy = sin(eulerAngles.z * 0.5);
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float cp = cos(eulerAngles.y * 0.5);
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float sp = sin(eulerAngles.y * 0.5);
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float cr = cos(eulerAngles.x * 0.5);
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float sr = sin(eulerAngles.x * 0.5);
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NiQuaternion q;
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q.w = cr * cp * cy + sr * sp * sy;
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q.x = sr * cp * cy - cr * sp * sy;
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q.y = cr * sp * cy + sr * cp * sy;
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q.z = cr * cp * sy - sr * sp * cy;
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NiQuaternion q;
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q.w = cr * cp * cy + sr * sp * sy;
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q.x = sr * cp * cy - cr * sp * sy;
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q.y = cr * sp * cy + sr * cp * sy;
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q.z = cr * cp * sy - sr * sp * cy;
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return q;
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return q;
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}
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