/*
====================
AngleQuaternion
====================
*/
void AngleQuaternion( float *angles, vec4_t quaternion )
{
float sr, sp, sy, cr, cp, cy;
#ifdef VECTORIZE_SINCOS
SinCosFastVector( angles[2] * 0.5,
angles[1] * 0.5,
angles[0] * 0.5, 0,
&sy, &sp, &sr, NULL,
&cy, &cp, &cr, NULL);
#else
float angle;
// FIXME: rescale the inputs to 1/2 angle
angle = angles[2] * 0.5;
sy = sin(angle);
cy = cos(angle);
angle = angles[1] * 0.5;
sp = sin(angle);
cp = cos(angle);
angle = angles[0] * 0.5;
sr = sin(angle);
cr = cos(angle);
#endif
quaternion[0] = sr*cp*cy-cr*sp*sy; // X
quaternion[1] = cr*sp*cy+sr*cp*sy; // Y
quaternion[2] = cr*cp*sy-sr*sp*cy; // Z
quaternion[3] = cr*cp*cy+sr*sp*sy; // W
}
/*
====================
AngleMatrix
====================
*/
void AngleMatrix (const float *angles, float (*matrix)[4] )
{
float sr, sp, sy, cr, cp, cy;
#ifdef VECTORIZE_SINCOS
SinCosFastVector( DEG2RAD(angles[YAW]),
DEG2RAD(angles[PITCH]),
DEG2RAD(angles[ROLL]), 0,
&sy, &sp, &sr, NULL,
&cy, &cp, &cr, NULL);
#else
float angle;
angle = angles[YAW] * (M_PI*2 / 360);
sy = sin(angle);
cy = cos(angle);
angle = angles[PITCH] * (M_PI*2 / 360);
sp = sin(angle);
cp = cos(angle);
angle = angles[ROLL] * (M_PI*2 / 360);
sr = sin(angle);
cr = cos(angle);
#endif
// matrix = (YAW * PITCH) * ROLL
matrix[0][0] = cp*cy;
matrix[1][0] = cp*sy;
matrix[2][0] = -sp;
matrix[0][1] = sr*sp*cy+cr*-sy;
matrix[1][1] = sr*sp*sy+cr*cy;
matrix[2][1] = sr*cp;
matrix[0][2] = (cr*sp*cy+-sr*-sy);
matrix[1][2] = (cr*sp*sy+-sr*cy);
matrix[2][2] = cr*cp;
matrix[0][3] = 0.0;
matrix[1][3] = 0.0;
matrix[2][3] = 0.0;
}
/*
===============
CL_EntityParticles
set EF_BRIGHTFIELD effect
===============
*/
void CL_EntityParticles( cl_entity_t *ent )
{
float angle;
float sr, sp, sy, cr, cp, cy;
vec3_t forward;
particle_t *p;
int i;
for( i = 0; i < NUMVERTEXNORMALS; i++ )
{
p = CL_AllocParticle( NULL );
if( !p ) return;
#ifdef VECTORIZE_SINCOS
SinCosFastVector( cl.time * cl_avelocities[i][0], cl.time * cl_avelocities[i][1], cl.time * cl_avelocities[i][2], 0,
&sy, &sp, &sr, NULL,
&cy, &cp, &cr, NULL);
#else
angle = cl.time * cl_avelocities[i][0];
SinCos( angle, &sy, &cy );
angle = cl.time * cl_avelocities[i][1];
SinCos( angle, &sp, &cp );
angle = cl.time * cl_avelocities[i][2];
SinCos( angle, &sr, &cr );
#endif
VectorSet( forward, cp * cy, cp * sy, -sp );
p->die += 0.01f;
p->color = 111; // yellow
p->type = pt_explode;
p->org[0] = ent->origin[0] + cl_avertexnormals[i][0] * 64.0f + forward[0] * 16.0f;
p->org[1] = ent->origin[1] + cl_avertexnormals[i][1] * 64.0f + forward[1] * 16.0f;
p->org[2] = ent->origin[2] + cl_avertexnormals[i][2] * 64.0f + forward[2] * 16.0f;
}
}
