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Pass vms_matrix &to vms_matrix_from_quaternion

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This commit is contained in:
Kp 2018-03-31 21:53:01 +00:00
parent 45f59c384b
commit 813d73eedd
3 changed files with 27 additions and 24 deletions
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2
common/include/fwd-vecmat.h
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@ -92,6 +92,6 @@ void vm_extract_angles_matrix (vms_angvec &a, const vms_matrix &m);
void vm_extract_angles_vector (vms_angvec &a, const vms_vector &v);
fix vm_dist_to_plane (const vms_vector &checkp, const vms_vector &norm, const vms_vector &planep) __attribute_warn_unused_result;
void vms_quaternion_from_matrix(vms_quaternion &q, const vms_matrix &m);
void vms_matrix_from_quaternion(vms_matrix * m, const vms_quaternion * q);
void vms_matrix_from_quaternion(vms_matrix &m, const vms_quaternion &q);
}

47
common/maths/vecmat.cpp
View file

@ -652,33 +652,36 @@ void vms_quaternion_from_matrix(vms_quaternion &q, const vms_matrix &m)
}
// convert vms_quaternion to vms_matrix
void vms_matrix_from_quaternion(vms_matrix * m, const vms_quaternion * q)
void vms_matrix_from_quaternion(vms_matrix &m, const vms_quaternion &q)
{
fix sqw = fixmul(q->w * 2, q->w * 2);
fix sqx = fixmul(q->x * 2, q->x * 2);
fix sqy = fixmul(q->y * 2, q->y * 2);
fix sqz = fixmul(q->z * 2, q->z * 2);
fix invs = fixdiv(fl2f(1.0), (sqw + sqx + sqy + sqz));
fix tmp1, tmp2;
const fix qw2 = q.w * 2;
const fix qx2 = q.x * 2;
const fix qy2 = q.y * 2;
const fix qz2 = q.z * 2;
const fix sqw = fixmul(qw2, qw2);
const fix sqx = fixmul(qx2, qx2);
const fix sqy = fixmul(qy2, qy2);
const fix sqz = fixmul(qz2, qz2);
const fix invs = fixdiv(fl2f(1.0), (sqw + sqx + sqy + sqz));
m->rvec.x = fixmul(sqx - sqy - sqz + sqw, invs);
m->uvec.y = fixmul(-sqx + sqy - sqz + sqw, invs);
m->fvec.z = fixmul(-sqx - sqy + sqz + sqw, invs);
m.rvec.x = fixmul(sqx - sqy - sqz + sqw, invs);
m.uvec.y = fixmul(-sqx + sqy - sqz + sqw, invs);
m.fvec.z = fixmul(-sqx - sqy + sqz + sqw, invs);
tmp1 = fixmul(q->x * 2, q->y * 2);
tmp2 = fixmul(q->z * 2, q->w * 2);
m->uvec.x = fixmul(fixmul(fl2f(2.0), (tmp1 + tmp2)), invs);
m->rvec.y = fixmul(fixmul(fl2f(2.0), (tmp1 - tmp2)), invs);
const fix qxy = fixmul(qx2, qy2);
const fix qzw = fixmul(qz2, qw2);
m.uvec.x = fixmul(fixmul(fl2f(2.0), (qxy + qzw)), invs);
m.rvec.y = fixmul(fixmul(fl2f(2.0), (qxy - qzw)), invs);
tmp1 = fixmul(q->x * 2, q->z * 2);
tmp2 = fixmul(q->y * 2, q->w * 2);
m->fvec.x = fixmul(fixmul(fl2f(2.0), (tmp1 - tmp2)), invs);
m->rvec.z = fixmul(fixmul(fl2f(2.0), (tmp1 + tmp2)), invs);
const fix qxz = fixmul(qx2, qz2);
const fix qyw = fixmul(qy2, qw2);
m.fvec.x = fixmul(fixmul(fl2f(2.0), (qxz - qyw)), invs);
m.rvec.z = fixmul(fixmul(fl2f(2.0), (qxz + qyw)), invs);
tmp1 = fixmul(q->y * 2, q->z * 2);
tmp2 = fixmul(q->x * 2, q->w * 2);
m->fvec.y = fixmul(fixmul(fl2f(2.0), (tmp1 + tmp2)), invs);
m->uvec.z = fixmul(fixmul(fl2f(2.0), (tmp1 - tmp2)), invs);
const fix qyz = fixmul(qy2, qz2);
const fix qxw = fixmul(qx2, qw2);
m.fvec.y = fixmul(fixmul(fl2f(2.0), (qyz + qxw)), invs);
m.uvec.z = fixmul(fixmul(fl2f(2.0), (qyz - qxw)), invs);
}
}

2
similar/main/gameseg.cpp
View file

@ -1068,7 +1068,7 @@ void create_quaternionpos(quaternionpos &qpp, const object_base &objp)
void extract_quaternionpos(const vmobjptridx_t objp, quaternionpos &qpp)
{
vms_matrix_from_quaternion(&objp->orient, &qpp.orient);
vms_matrix_from_quaternion(objp->orient, qpp.orient);
objp->pos = qpp.pos;
objp->mtype.phys_info.velocity = qpp.vel;