float AngleDiff( float lhs, float rhs )
{
lhs = WrapPi( lhs );
rhs = WrapPi( rhs );
return WrapPi( lhs - rhs );
}
void kmEulerAngles::canonize()
{
// transform pitch into [-pi pi]
m_pitch = WrapPi(m_pitch);
// transform pitch into [-pi/2 pi/2]
if (m_pitch < - kmPiOver2)
{
m_pitch = -kmPi - m_pitch;
m_heading += kmPi;
m_bank += kmPi;
}
else if(m_pitch > kmPiOver2)
{
m_pitch = kmPi - m_pitch;
m_heading += kmPi;
m_bank += kmPi;
}
if (fabs(m_pitch) > kmPiOver2)
{
m_heading += m_bank;
m_bank = 0.0f;
}
else
{
m_bank = WrapPi(m_bank);
}
m_heading = WrapPi(m_heading);
}
Vec3 GetVectorFromYRotation(float angleRadians)
{
Vec3 lookAt;
WrapPi(angleRadians);
lookAt.x = cos(angleRadians);
lookAt.y = 0;
lookAt.z = sin(angleRadians);
lookAt.Normalize();
return lookAt;
}
//-------------------------------------------------------------------------------------------------------------------
// This function returns the target orientation for a given look-at vector. The orientation will be along the Y
// axis so the Y component of the look-at vector is ignored. This function is used by the AI system which doesn't
// care about orientation along any other axis.
//-------------------------------------------------------------------------------------------------------------------
float GetYRotationFromVector(const Vec3& lookAt)
{
Vec3 zUnit(0,0,1); // 0 orientation means staring down the positive Z axis
float angle = (atan2(lookAt.z,lookAt.x*-1) - atan2(zUnit.z,zUnit.x));
return WrapPi(angle);
}
