static void chaseInterpolate( int time, float timeFraction, vec3_t origin, vec3_t angles, float *distance, int *target ) {
float lerp;
int times[4];
vec4_t origins[4], pr;
Quat_t quats[4], qr;
demoChasePoint_t *point = chasePointSynch( time );
if (!point->next) {
VectorCopy( point->origin, origin );
VectorCopy( point->angles, angles );
*distance = point->distance;
*target = point->target;
return;
}
chasePointControl( point, times, origins, quats );
lerp = ((time - point->time) + timeFraction) / (point->next->time - point->time);
QuatTimeSpline( lerp, times, quats, qr );
VectorTimeSpline( lerp, times, (float *)origins, (float *)pr,4 );
/* Copy the results */
VectorCopy( pr, demo.chase.origin );
demo.chase.target = point->target;
demo.chase.distance = pr[3];
QuatToAngles( qr, demo.chase.angles );
}
static void demoEffectAnglesAt( demoEffectParent_t *parent, int time, float timeFraction, vec3_t angles ) {
demoEffectPoint_t *match[4];
Quat_t quats[4], qr;
int times[4];
vec3_t tempAngles;
float lerp;
demoEffectMatchAt( parent->points, time, EFFECT_ANGLES, match );
if (!match[1] ) {
if ( match[0] ) {
VectorCopy( match[0]->angles, angles );
} else if ( match[2] ) {
VectorCopy( match[2]->angles, angles );
} else {
VectorCopy( parent->angles, angles );
}
return;
} else if (!match[2] ) {
VectorCopy( match[1]->angles, angles );
return;
}
QuatFromAngles( match[1]->angles, quats[1] );
QuatFromAnglesClosest( match[2]->angles, quats[1], quats[2] );
if (!match[0]) {
VectorSubtract( match[2]->angles, match[1]->angles, tempAngles );
VectorAdd( tempAngles, match[1]->angles, tempAngles );
QuatFromAnglesClosest( tempAngles, quats[1], quats[0] );
} else {
QuatFromAnglesClosest( match[0]->angles, quats[1], quats[0] );
}
if (!match[3]) {
VectorSubtract( match[2]->angles, match[1]->angles, tempAngles );
VectorAdd( tempAngles, match[2]->angles, tempAngles );
QuatFromAnglesClosest( tempAngles, quats[2], quats[3] );
} else {
QuatFromAnglesClosest( match[3]->angles, quats[2], quats[3] );
}
demoEffectMatchTimes( match, times );
lerp = ((time - times[1]) + timeFraction) / (times[2] - times[1]);
QuatTimeSpline( lerp, times, quats, qr );
QuatToAngles( qr, angles );
}
Vec3 TurretComponent::AbsoluteAnglesToRelativeAngles(const Vec3 absoluteAngles) const {
quat_t torsoRotation;
quat_t absoluteRotation;
quat_t relativeRotation;
vec3_t relativeAngles;
AnglesToQuat(TorsoAngles().Data(), torsoRotation);
AnglesToQuat(absoluteAngles.Data(), absoluteRotation);
// This is the inverse of RelativeAnglesToAbsoluteAngles. See the comment there for details.
quat_t inverseTorsoOrientation;
QuatCopy(torsoRotation, inverseTorsoOrientation);
QuatInverse(inverseTorsoOrientation);
QuatMultiply(inverseTorsoOrientation, absoluteRotation, relativeRotation);
QuatToAngles(relativeRotation, relativeAngles);
/*turretLogger.Debug("AbsoluteAnglesToRelativeAngles: %s → %s. Torso angles: %s.",
Utility::Print(absoluteAngles), Utility::Print(Vec3::Load(relativeAngles)), TorsoAngles()
);*/
return Vec3::Load(relativeAngles);
}
Vec3 TurretComponent::RelativeAnglesToAbsoluteAngles(const Vec3 relativeAngles) const {
quat_t torsoRotation;
quat_t relativeRotation;
quat_t absoluteRotation;
vec3_t absoluteAngles;
AnglesToQuat(TorsoAngles().Data(), torsoRotation);
AnglesToQuat(relativeAngles.Data(), relativeRotation);
// Rotate by torso rotation in world space, then by relative orientation in torso space.
// This is equivalent to rotating by relative orientation in world space, then by torso rotation
// in world space. This then is equivalent to multiplying the torso rotation in world space on
// the left hand side and the relative rotation in world space on the right hand side.
QuatMultiply(torsoRotation, relativeRotation, absoluteRotation);
QuatToAngles(absoluteRotation, absoluteAngles);
/*turretLogger.Debug("RelativeAnglesToAbsoluteAngles: %s → %s. Torso angles: %s.",
Utility::Print(relativeAngles), Utility::Print(Vec3::Load(absoluteAngles)), TorsoAngles()
);*/
return Vec3::Load(absoluteAngles);
}
