files structure reorganization, compilation BROKEN. compilation will be fixed soon.

common/matrix3.cpp

@@ -0,0 +1,186 @@
+/* Residual - Virtual machine to run LucasArts' 3D adventure games
+ * Copyright (C) 2003-2006 The ScummVM-Residual Team (www.scummvm.org)
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+
+ * This library 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
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA
+ *
+ * $URL$
+ * $Id$
+ *
+ */
+
+#include "matrix3.h"
+
+#include <math.h>
+
+void Matrix3::setAsIdentity() {
+	_right.set(1.f, 0.f, 0.f);
+	_up.set(0.f, 1.f, 0.f);
+	_at.set(0.f, 0.f, 0.f);
+}
+
+void Matrix3::buildFromPitchYawRoll(float pitch, float yaw, float roll) {
+	Matrix3 temp1, temp2;
+
+	temp1.constructAroundPitch(pitch);
+	constructAroundRoll(roll);
+
+	(*this) *= temp1;
+
+	temp2.constructAroundYaw(yaw);
+
+	(*this) *= temp2;
+}
+
+#define MYPI 3.14159265358979323846
+#define DEGTORAD(a) (a * MYPI / 180.0) 
+#define RADTODEG(a) (a * 180.0 / MYPI) 
+
+float RadianToDegree(float rad) {
+	return (float)RADTODEG(rad);
+}
+
+float DegreeToRadian(float degrees) {
+	return (float)DEGTORAD(degrees);
+}
+
+// right
+void Matrix3::constructAroundPitch(float pitch) {
+	float cosa;
+	float sina;
+
+	cosa = (float)cos(DegreeToRadian(pitch));
+	sina = (float)sin(DegreeToRadian(pitch));
+
+	_right.set(1.f, 0.f, 0.f);
+	_up.set(0.f, cosa, -sina);
+	_at.set(0.f, sina, cosa);
+}
+
+// up
+void Matrix3::constructAroundYaw(float yaw) {
+	float cosa;
+	float sina;
+
+	cosa = (float)cos(DegreeToRadian(yaw));
+	sina = (float)sin(DegreeToRadian(yaw));
+
+	_right.set(cosa, 0.f, sina);
+	_up.set(0.f, 1.f, 0.f);
+	_at.set(-sina, 0.f, cosa);
+}
+
+// at
+void Matrix3::constructAroundRoll(float roll) {
+	float cosa;
+	float sina;
+
+	cosa = (float)cos(DegreeToRadian(roll));
+	sina = (float)sin(DegreeToRadian(roll));
+
+	_right.set(cosa, -sina, 0.f);
+	_up.set(sina, cosa, 0.f);
+	_at.set(0.f, 0.f, 1.f);
+}
+
+/*
+0 1 2 3
+4 5 6 7
+8 9 10 11
+*/
+
+// WARNING: Still buggy in some occasions.
+void Matrix3::getPitchYawRoll(float* pPitch, float* pYaw, float* pRoll) {
+	float D;
+	float C;
+	float ftrx;
+	float ftry;
+	float angle_x;
+	float angle_y;
+	float angle_z;
+
+	angle_y = D = asin(_right.z());        /* Calculate Y-axis angle */
+	C			= cos(angle_y);
+	angle_y		= RadianToDegree(angle_y);
+
+	if (fabs( C ) > 0.005) {            /* Gimball lock? */
+		ftrx		=  _at.z() / C;           /* No, so get X-axis angle */
+		ftry		= -_up.z() / C;
+
+		angle_x		= RadianToDegree(atan2(ftry, ftrx));
+
+		ftrx		=  _right.x() / C;            /* Get Z-axis angle */
+		ftry		= -_right.y() / C;
+
+		angle_z		= RadianToDegree(atan2(ftry, ftrx));
+	} else {                                 /* Gimball lock has occurred */
+		angle_x		= 0;                      /* Set X-axis angle to zqero */
+
+		ftrx		= _up.y();                 /* And calculate Z-axis angle */
+		ftry		= _up.x();
+
+		angle_z  = RadianToDegree(atan2(ftry, ftrx));
+	}
+
+	/* return only positive angles in [0,360] */
+	if (angle_x < 0) angle_x += 360;
+	if (angle_y < 0) angle_y += 360;
+	if (angle_z < 0) angle_z += 360;
+
+	if (pPitch)
+		*pPitch = angle_x;
+
+	if (pYaw)
+		*pYaw = angle_y;
+
+	if (pRoll)
+		*pRoll = angle_z;
+}
+
+float Matrix3::getPitch() {
+	float pitch;
+
+	getPitchYawRoll(&pitch, 0, 0);
+
+	return pitch;
+}
+
+float Matrix3::getYaw() {
+	float yaw;
+
+	getPitchYawRoll(0, &yaw, 0);
+
+	return yaw;
+}
+
+float Matrix3::getRoll() {
+	float roll;
+
+	getPitchYawRoll(0, 0, &roll);
+
+	return roll;
+}
+
+void Matrix3::transform(Vector3d* v) {
+	float x;
+	float y;
+	float z;
+
+	x = v->dotProduct(_right.x(), _up.x(), _at.x());
+	y = v->dotProduct(_right.x(), _up.x(), _at.x());
+	z = v->dotProduct(_right.x(), _up.x(), _at.x());
+
+	v->set(x, y, z);
+}
+