void RotatePointAroundVector( vec3_t &dst, const vec3_t &dir, const vec3_t &point, float degrees )
{
float m[3][3];
float im[3][3];
float zrot[3][3];
float tmpmat[3][3];
float rot[3][3];
int i;
vec3_t vr, vup, vf;
vf[0] = dir[0];
vf[1] = dir[1];
vf[2] = dir[2];
PerpendicularVector( vr, dir );
//CrossProduct( vr, vf, vup );
vup = CrossProduct( vr, vf );
m[0][0] = vr[0];
m[1][0] = vr[1];
m[2][0] = vr[2];
m[0][1] = vup[0];
m[1][1] = vup[1];
m[2][1] = vup[2];
m[0][2] = vf[0];
m[1][2] = vf[1];
m[2][2] = vf[2];
memcpy( im, m, sizeof( im ) );
im[0][1] = m[1][0];
im[0][2] = m[2][0];
im[1][0] = m[0][1];
im[1][2] = m[2][1];
im[2][0] = m[0][2];
im[2][1] = m[1][2];
memset( zrot, 0, sizeof( zrot ) );
zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F;
zrot[0][0] = cos( DEG2RAD( degrees ) );
zrot[0][1] = sin( DEG2RAD( degrees ) );
zrot[1][0] = -sin( DEG2RAD( degrees ) );
zrot[1][1] = cos( DEG2RAD( degrees ) );
R_ConcatRotations( m, zrot, tmpmat );
R_ConcatRotations( tmpmat, im, rot );
for ( i = 0; i < 3; i++ )
{
dst[i] = rot[i][0] * point[0] + rot[i][1] * point[1] + rot[i][2] * point[2];
}
}
/**
* @brief Rotate a point around a given vector
* @param[in] dir The vector around which to rotate
* @param[in] point The point to be rotated
* @param[in] degrees How many degrees to rotate the point by
* @param[out] dst The point after rotation
* @note Warning: @c dst must be different from @c point (otherwise the result has no meaning)
* @pre @c dir must be normalized
*/
void RotatePointAroundVector (vec3_t dst, const vec3_t dir, const vec3_t point, float degrees)
{
float m[3][3];
float im[3][3];
float zrot[3][3];
float tmpmat[3][3];
float rot[3][3];
int i;
vec3_t vr, vup, vf;
vf[0] = dir[0];
vf[1] = dir[1];
vf[2] = dir[2];
PerpendicularVector(vr, dir);
CrossProduct(vr, vf, vup);
m[0][0] = vr[0];
m[1][0] = vr[1];
m[2][0] = vr[2];
m[0][1] = vup[0];
m[1][1] = vup[1];
m[2][1] = vup[2];
m[0][2] = vf[0];
m[1][2] = vf[1];
m[2][2] = vf[2];
memcpy(im, m, sizeof(im));
im[0][1] = m[1][0];
im[0][2] = m[2][0];
im[1][0] = m[0][1];
im[1][2] = m[2][1];
im[2][0] = m[0][2];
im[2][1] = m[1][2];
OBJZERO(zrot);
/* now prepare the rotation matrix */
zrot[0][0] = cos(degrees * torad);
zrot[0][1] = sin(degrees * torad);
zrot[1][0] = -sin(degrees * torad);
zrot[1][1] = cos(degrees * torad);
zrot[2][2] = 1.0F;
R_ConcatRotations(m, zrot, tmpmat);
R_ConcatRotations(tmpmat, im, rot);
for (i = 0; i < 3; i++) {
dst[i] = DotProduct(rot[i], point);
}
}
void RotatePointAroundVector( Coord *dst, Coord dir, Coord point, float degrees )
{
float m[3][3];
float im[3][3];
float zrot[3][3];
float tmpmat[3][3];
float rot[3][3];
Coord vr, vup, vf;
vf.x = dir.x;
vf.y = dir.y;
vf.z = dir.z;
PerpendicularVector( &vr, dir );
CrossProduct( vr, vf, &vup );
m[0][0] = vr.x;
m[1][0] = vr.y;
m[2][0] = vr.z;
m[0][1] = vup.x;
m[1][1] = vup.y;
m[2][1] = vup.z;
m[0][2] = vf.x;
m[1][2] = vf.y;
m[2][2] = vf.z;
memcpy( im, m, sizeof( im ) );
im[0][1] = m[1][0];
im[0][2] = m[2][0];
im[1][0] = m[0][1];
im[1][2] = m[2][1];
im[2][0] = m[0][2];
im[2][1] = m[1][2];
memset( zrot, 0, sizeof( zrot ) );
zrot[0][0] = zrot[1][1] = zrot[2][2] = 1.0F;
zrot[0][0] = cos( ( degrees*DEGTORAD ) );
zrot[0][1] = sin( ( degrees*DEGTORAD ) );
zrot[1][0] = -sin( ( degrees*DEGTORAD ) );
zrot[1][1] = cos( ( degrees*DEGTORAD ) );
R_ConcatRotations( m, zrot, tmpmat );
R_ConcatRotations( tmpmat, im, rot );
dst->x = rot[0][0] * point.x + rot[0][1] * point.y + rot[0][2] * point.z;
dst->y = rot[1][0] * point.x + rot[1][1] * point.y + rot[1][2] * point.z;
dst->z = rot[2][0] * point.x + rot[2][1] * point.y + rot[2][2] * point.z;
}
/*
================
R_RotateBmodel
================
*/
void R_RotateBmodel (void)
{
float angle, s, c, temp1[3][3], temp2[3][3], temp3[3][3];
// TODO: should use a look-up table
// TODO: should really be stored with the entity instead of being reconstructed
// TODO: could cache lazily, stored in the entity
// TODO: share work with R_SetUpAliasTransform
// yaw
angle = currententity->angles[YAW];
angle = angle * (float) M_PI*2 / 360;
s = (float)sin(angle);
c = (float)cos(angle);
temp1[0][0] = c;
temp1[0][1] = s;
temp1[0][2] = 0;
temp1[1][0] = -s;
temp1[1][1] = c;
temp1[1][2] = 0;
temp1[2][0] = 0;
temp1[2][1] = 0;
temp1[2][2] = 1;
// pitch
angle = currententity->angles[PITCH];
angle = angle * (float)M_PI*2 / 360;
s = (float)sin(angle);
c = (float)cos(angle);
temp2[0][0] = c;
temp2[0][1] = 0;
temp2[0][2] = -s;
temp2[1][0] = 0;
temp2[1][1] = 1;
temp2[1][2] = 0;
temp2[2][0] = s;
temp2[2][1] = 0;
temp2[2][2] = c;
R_ConcatRotations (temp2, temp1, temp3);
// roll
angle = currententity->angles[ROLL];
angle = angle * (float)M_PI*2 / 360;
s = (float)sin(angle);
c = (float)cos(angle);
temp1[0][0] = 1;
temp1[0][1] = 0;
temp1[0][2] = 0;
temp1[1][0] = 0;
temp1[1][1] = c;
temp1[1][2] = s;
temp1[2][0] = 0;
temp1[2][1] = -s;
temp1[2][2] = c;
R_ConcatRotations (temp1, temp3, entity_rotation);
//
// rotate modelorg and the transformation matrix
//
R_EntityRotate (modelorg);
R_EntityRotate (vpn);
R_EntityRotate (vright);
R_EntityRotate (vup);
R_TransformFrustum ();
}