693 lines
18 KiB
C++
693 lines
18 KiB
C++
/*
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* This file is part of the DXX-Rebirth project <https://www.dxx-rebirth.com/>.
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* It is copyright by its individual contributors, as recorded in the
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* project's Git history. See COPYING.txt at the top level for license
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* terms and a link to the Git history.
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*/
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/*
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*
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* C version of vecmat library
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*
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*/
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#include <stdlib.h>
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#include <stdint.h>
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#include <math.h> // for sqrt
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#include "maths.h"
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#include "vecmat.h"
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#include "dxxerror.h"
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namespace dcx {
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//#define USE_ISQRT 1
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constexpr vms_matrix vmd_identity_matrix = IDENTITY_MATRIX;
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constexpr vms_vector vmd_zero_vector{};
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//adds two vectors, fills in dest, returns ptr to dest
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//ok for dest to equal either source, but should use vm_vec_add2() if so
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vms_vector &vm_vec_add(vms_vector &dest,const vms_vector &src0,const vms_vector &src1)
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{
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dest.x = src0.x + src1.x;
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dest.y = src0.y + src1.y;
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dest.z = src0.z + src1.z;
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return dest;
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}
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//subs two vectors, fills in dest, returns ptr to dest
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//ok for dest to equal either source, but should use vm_vec_sub2() if so
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vms_vector &_vm_vec_sub(vms_vector &dest,const vms_vector &src0,const vms_vector &src1)
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{
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dest.x = src0.x - src1.x;
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dest.y = src0.y - src1.y;
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dest.z = src0.z - src1.z;
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return dest;
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}
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//adds one vector to another. returns ptr to dest
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//dest can equal source
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void vm_vec_add2(vms_vector &dest,const vms_vector &src)
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{
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dest.x += src.x;
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dest.y += src.y;
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dest.z += src.z;
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}
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//subs one vector from another, returns ptr to dest
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//dest can equal source
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void vm_vec_sub2(vms_vector &dest,const vms_vector &src)
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{
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dest.x -= src.x;
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dest.y -= src.y;
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dest.z -= src.z;
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}
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static inline fix avg_fix(fix64 a, fix64 b)
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{
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return (a + b) / 2;
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}
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//averages two vectors. returns ptr to dest
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//dest can equal either source
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void vm_vec_avg(vms_vector &dest,const vms_vector &src0,const vms_vector &src1)
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{
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dest.x = avg_fix(src0.x, src1.x);
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dest.y = avg_fix(src0.y, src1.y);
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dest.z = avg_fix(src0.z, src1.z);
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}
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//scales a vector in place. returns ptr to vector
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vms_vector &vm_vec_scale(vms_vector &dest,fix s)
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{
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return vm_vec_copy_scale(dest, dest, s);
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}
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//scales and copies a vector. returns ptr to dest
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vms_vector &vm_vec_copy_scale(vms_vector &dest,const vms_vector &src,fix s)
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{
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dest.x = fixmul(src.x,s);
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dest.y = fixmul(src.y,s);
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dest.z = fixmul(src.z,s);
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return dest;
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}
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//scales a vector, adds it to another, and stores in a 3rd vector
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//dest = src1 + k * src2
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void vm_vec_scale_add(vms_vector &dest,const vms_vector &src1,const vms_vector &src2,fix k)
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{
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dest.x = src1.x + fixmul(src2.x,k);
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dest.y = src1.y + fixmul(src2.y,k);
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dest.z = src1.z + fixmul(src2.z,k);
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}
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//scales a vector and adds it to another
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//dest += k * src
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void vm_vec_scale_add2(vms_vector &dest,const vms_vector &src,fix k)
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{
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dest.x += fixmul(src.x,k);
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dest.y += fixmul(src.y,k);
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dest.z += fixmul(src.z,k);
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}
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//scales a vector in place, taking n/d for scale. returns ptr to vector
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//dest *= n/d
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void vm_vec_scale2(vms_vector &dest,fix n,fix d)
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{
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#if 0 // DPH: Kludge: this was overflowing a lot, so I made it use the FPU.
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float nd;
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nd = f2fl(n) / f2fl(d);
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dest.x = fl2f( f2fl(dest.x) * nd);
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dest.y = fl2f( f2fl(dest.y) * nd);
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dest.z = fl2f( f2fl(dest.z) * nd);
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#else
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dest.x = fixmuldiv(dest.x,n,d);
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dest.y = fixmuldiv(dest.y,n,d);
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dest.z = fixmuldiv(dest.z,n,d);
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#endif
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}
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[[nodiscard]]
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static fix vm_vec_dot3(fix x,fix y,fix z,const vms_vector &v)
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{
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#if 0
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quadint q;
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q.low = q.high = 0;
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fixmulaccum(&q,x,v->x);
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fixmulaccum(&q,y,v->y);
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fixmulaccum(&q,z,v->z);
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return fixquadadjust(&q);
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#else
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int64_t x0 = x;
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int64_t x1 = v.x;
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int64_t y0 = y;
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int64_t y1 = v.y;
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int64_t z0 = z;
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int64_t z1 = v.z;
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int64_t p = (x0 * x1) + (y0 * y1) + (z0 * z1);
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/* Convert back to fix and return. */
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return p >> 16;
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#endif
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}
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fix vm_vec_dot(const vms_vector &v0,const vms_vector &v1)
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{
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return vm_vec_dot3(v0.x, v0.y, v0.z, v1);
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}
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vm_magnitude_squared vm_vec_mag2(const vms_vector &v)
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{
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const int64_t x = v.x;
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const int64_t y = v.y;
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const int64_t z = v.z;
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return vm_magnitude_squared{static_cast<uint64_t>((x * x) + (y * y) + (z * z))};
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}
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vm_magnitude vm_vec_mag(const vms_vector &v)
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{
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quadint q;
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q.q = static_cast<uint64_t>(vm_vec_mag2(v));
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return vm_magnitude{quad_sqrt(q)};
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}
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//computes the distance between two points. (does sub and mag)
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vm_distance vm_vec_dist(const vms_vector &v0,const vms_vector &v1)
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{
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return vm_vec_mag(vm_vec_sub(v0,v1));
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}
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vm_distance_squared vm_vec_dist2(const vms_vector &v0,const vms_vector &v1)
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{
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return vm_vec_mag2(vm_vec_sub(v0,v1));
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}
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//computes an approximation of the magnitude of the vector
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//uses dist = largest + next_largest*3/8 + smallest*3/16
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vm_magnitude vm_vec_mag_quick(const vms_vector &v)
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{
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fix a,b,c,bc;
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a = labs(v.x);
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b = labs(v.y);
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c = labs(v.z);
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if (a < b) {
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std::swap(a, b);
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}
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if (b < c) {
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std::swap(b, c);
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if (a < b) {
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std::swap(a, b);
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}
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}
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bc = (b>>2) + (c>>3);
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return vm_magnitude{static_cast<uint32_t>(a + bc + (bc>>1))};
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}
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//computes an approximation of the distance between two points.
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//uses dist = largest + next_largest*3/8 + smallest*3/16
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vm_distance vm_vec_dist_quick(const vms_vector &v0,const vms_vector &v1)
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{
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return vm_vec_mag_quick(vm_vec_sub(v0,v1));
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}
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//normalize a vector. returns mag of source vec
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vm_magnitude vm_vec_copy_normalize(vms_vector &dest,const vms_vector &src)
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{
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auto m = vm_vec_mag(src);
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if (m) {
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vm_vec_divide(dest, src, m);
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}
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return m;
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}
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void vm_vec_divide(vms_vector &dest,const vms_vector &src, fix m)
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{
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dest.x = fixdiv(src.x,m);
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dest.y = fixdiv(src.y,m);
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dest.z = fixdiv(src.z,m);
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}
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//normalize a vector. returns mag of source vec
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vm_magnitude vm_vec_normalize(vms_vector &v)
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{
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return vm_vec_copy_normalize(v,v);
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}
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//normalize a vector. returns mag of source vec. uses approx mag
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vm_magnitude vm_vec_copy_normalize_quick(vms_vector &dest,const vms_vector &src)
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{
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auto m = vm_vec_mag_quick(src);
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if (m) {
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vm_vec_divide(dest, src, m);
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}
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return m;
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}
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//normalize a vector. returns 1/mag of source vec. uses approx 1/mag
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vm_magnitude vm_vec_normalize_quick(vms_vector &v)
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{
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return vm_vec_copy_normalize_quick(v,v);
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}
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//return the normalized direction vector between two points
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//dest = normalized(end - start). Returns 1/mag of direction vector
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//NOTE: the order of the parameters matches the vector subtraction
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vm_magnitude vm_vec_normalized_dir_quick(vms_vector &dest,const vms_vector &end,const vms_vector &start)
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{
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return vm_vec_normalize_quick(vm_vec_sub(dest,end,start));
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}
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//return the normalized direction vector between two points
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//dest = normalized(end - start). Returns mag of direction vector
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//NOTE: the order of the parameters matches the vector subtraction
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vm_magnitude vm_vec_normalized_dir(vms_vector &dest,const vms_vector &end,const vms_vector &start)
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{
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return vm_vec_normalize(vm_vec_sub(dest,end,start));
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}
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//computes surface normal from three points. result is normalized
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//returns ptr to dest
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//dest CANNOT equal either source
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void vm_vec_normal(vms_vector &dest,const vms_vector &p0,const vms_vector &p1,const vms_vector &p2)
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{
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vm_vec_perp(dest,p0,p1,p2);
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vm_vec_normalize(dest);
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}
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//make sure a vector is reasonably sized to go into a cross product
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static void check_vec(vms_vector *v)
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{
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fix check;
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int cnt = 0;
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check = labs(v->x) | labs(v->y) | labs(v->z);
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if (check == 0)
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return;
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if (check & 0xfffc0000) { //too big
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while (check & 0xfff00000) {
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cnt += 4;
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check >>= 4;
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}
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while (check & 0xfffc0000) {
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cnt += 2;
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check >>= 2;
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}
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v->x >>= cnt;
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v->y >>= cnt;
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v->z >>= cnt;
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}
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else //maybe too small
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if ((check & 0xffff8000) == 0) { //yep, too small
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while ((check & 0xfffff000) == 0) {
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cnt += 4;
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check <<= 4;
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}
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while ((check & 0xffff8000) == 0) {
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cnt += 2;
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check <<= 2;
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}
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v->x >>= cnt;
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v->y >>= cnt;
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v->z >>= cnt;
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}
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}
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//computes cross product of two vectors.
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//Note: this magnitude of the resultant vector is the
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//product of the magnitudes of the two source vectors. This means it is
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//quite easy for this routine to overflow and underflow. Be careful that
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//your inputs are ok.
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void vm_vec_cross(vms_vector &dest,const vms_vector &src0,const vms_vector &src1)
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{
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quadint q;
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Assert(&dest!=&src0 && &dest!=&src1);
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q.q = 0;
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fixmulaccum(&q,src0.y,src1.z);
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fixmulaccum(&q,-src0.z,src1.y);
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dest.x = fixquadadjust(&q);
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q.q = 0;
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fixmulaccum(&q,src0.z,src1.x);
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fixmulaccum(&q,-src0.x,src1.z);
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dest.y = fixquadadjust(&q);
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q.q = 0;
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fixmulaccum(&q,src0.x,src1.y);
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fixmulaccum(&q,-src0.y,src1.x);
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dest.z = fixquadadjust(&q);
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}
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//computes non-normalized surface normal from three points.
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//returns ptr to dest
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//dest CANNOT equal either source
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void vm_vec_perp(vms_vector &dest,const vms_vector &p0,const vms_vector &p1,const vms_vector &p2)
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{
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auto t0 = vm_vec_sub(p1,p0);
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auto t1 = vm_vec_sub(p2,p1);
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check_vec(&t0);
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check_vec(&t1);
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vm_vec_cross(dest,t0,t1);
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}
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//computes the delta angle between two vectors.
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//vectors need not be normalized. if they are, call vm_vec_delta_ang_norm()
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//the forward vector (third parameter) can be NULL, in which case the absolute
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//value of the angle in returned. Otherwise the angle around that vector is
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//returned.
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fixang vm_vec_delta_ang(const vms_vector &v0,const vms_vector &v1,const vms_vector &fvec)
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{
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vms_vector t0,t1;
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if (!vm_vec_copy_normalize(t0,v0) || !vm_vec_copy_normalize(t1,v1))
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return 0;
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return vm_vec_delta_ang_norm(t0,t1,fvec);
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}
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//computes the delta angle between two normalized vectors.
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fixang vm_vec_delta_ang_norm(const vms_vector &v0,const vms_vector &v1,const vms_vector &fvec)
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{
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fixang a;
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a = fix_acos(vm_vec_dot(v0,v1));
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if (vm_vec_dot(vm_vec_cross(v0,v1),fvec) < 0)
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a = -a;
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return a;
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}
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static void sincos_2_matrix(vms_matrix &m, const fixang bank, const fix_sincos_result p, const fix_sincos_result h)
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{
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#define DXX_S2M_DECL(V) \
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const auto &sin##V = V.sin; \
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const auto &cos##V = V.cos
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DXX_S2M_DECL(p);
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DXX_S2M_DECL(h);
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m.fvec.y = -sinp; //m6
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m.fvec.x = fixmul(sinh,cosp); //m3
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m.fvec.z = fixmul(cosh,cosp); //m9
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const auto &&b = fix_sincos(bank);
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DXX_S2M_DECL(b);
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#undef DXX_S2M_DECL
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m.rvec.y = fixmul(sinb,cosp); //m4
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m.uvec.y = fixmul(cosb,cosp); //m5
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const auto cbch = fixmul(cosb,cosh);
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const auto sbsh = fixmul(sinb,sinh);
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m.rvec.x = cbch + fixmul(sinp,sbsh); //m1
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m.uvec.z = sbsh + fixmul(sinp,cbch); //m8
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const auto sbch = fixmul(sinb,cosh);
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const auto cbsh = fixmul(cosb,sinh);
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m.uvec.x = fixmul(sinp,cbsh) - sbch; //m2
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m.rvec.z = fixmul(sinp,sbch) - cbsh; //m7
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}
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//computes a matrix from a set of three angles. returns ptr to matrix
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void vm_angles_2_matrix(vms_matrix &m,const vms_angvec &a)
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{
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const auto al = a;
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sincos_2_matrix(m, al.b, fix_sincos(al.p), fix_sincos(al.h));
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}
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#if DXX_USE_EDITOR
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//computes a matrix from a forward vector and an angle
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void vm_vec_ang_2_matrix(vms_matrix &m,const vms_vector &v,fixang a)
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{
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fix sinp,cosp,sinh,cosh;
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sinp = -v.y;
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cosp = fix_sqrt(f1_0 - fixmul(sinp,sinp));
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sinh = fixdiv(v.x,cosp);
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cosh = fixdiv(v.z,cosp);
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sincos_2_matrix(m, a, {sinp, cosp}, {sinh, cosh});
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}
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#endif
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//computes a matrix from one or more vectors. The forward vector is required,
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//with the other two being optional. If both up & right vectors are passed,
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//the up vector is used. If only the forward vector is passed, a bank of
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//zero is assumed
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//returns ptr to matrix
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void vm_vector_2_matrix(vms_matrix &m,const vms_vector &fvec,const vms_vector *uvec,const vms_vector *rvec)
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{
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vms_vector &xvec=m.rvec,&yvec=m.uvec,&zvec=m.fvec;
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if (!vm_vec_copy_normalize(zvec,fvec)) {
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Int3(); //forward vec should not be zero-length
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return;
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}
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if (uvec == NULL) {
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if (rvec == NULL) { //just forward vec
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bad_vector2:
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;
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if (zvec.x==0 && zvec.z==0) { //forward vec is straight up or down
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m.rvec.x = f1_0;
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m.uvec.z = (zvec.y < 0)?f1_0:-f1_0;
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m.rvec.y = m.rvec.z = m.uvec.x = m.uvec.y = 0;
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}
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else { //not straight up or down
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xvec.x = zvec.z;
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xvec.y = 0;
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xvec.z = -zvec.x;
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vm_vec_normalize(xvec);
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vm_vec_cross(yvec,zvec,xvec);
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}
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}
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else { //use right vec
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if (!vm_vec_copy_normalize(xvec,*rvec))
|
|
goto bad_vector2;
|
|
|
|
vm_vec_cross(yvec,zvec,xvec);
|
|
|
|
//normalize new perpendicular vector
|
|
if (!vm_vec_normalize(yvec))
|
|
goto bad_vector2;
|
|
|
|
//now recompute right vector, in case it wasn't entirely perpendiclar
|
|
vm_vec_cross(xvec,yvec,zvec);
|
|
|
|
}
|
|
}
|
|
else { //use up vec
|
|
|
|
if (!vm_vec_copy_normalize(yvec,*uvec))
|
|
goto bad_vector2;
|
|
|
|
vm_vec_cross(xvec,yvec,zvec);
|
|
|
|
//normalize new perpendicular vector
|
|
if (!vm_vec_normalize(xvec))
|
|
goto bad_vector2;
|
|
|
|
//now recompute up vector, in case it wasn't entirely perpendiclar
|
|
vm_vec_cross(yvec,zvec,xvec);
|
|
}
|
|
}
|
|
|
|
|
|
//rotates a vector through a matrix. returns ptr to dest vector
|
|
//dest CANNOT equal source
|
|
void vm_vec_rotate(vms_vector &dest,const vms_vector &src,const vms_matrix &m)
|
|
{
|
|
dest.x = vm_vec_dot(src,m.rvec);
|
|
dest.y = vm_vec_dot(src,m.uvec);
|
|
dest.z = vm_vec_dot(src,m.fvec);
|
|
}
|
|
|
|
//mulitply 2 matrices, fill in dest. returns ptr to dest
|
|
//dest CANNOT equal either source
|
|
void _vm_matrix_x_matrix(vms_matrix &dest,const vms_matrix &src0,const vms_matrix &src1)
|
|
{
|
|
dest.rvec.x = vm_vec_dot3(src0.rvec.x,src0.uvec.x,src0.fvec.x, src1.rvec);
|
|
dest.uvec.x = vm_vec_dot3(src0.rvec.x,src0.uvec.x,src0.fvec.x, src1.uvec);
|
|
dest.fvec.x = vm_vec_dot3(src0.rvec.x,src0.uvec.x,src0.fvec.x, src1.fvec);
|
|
|
|
dest.rvec.y = vm_vec_dot3(src0.rvec.y,src0.uvec.y,src0.fvec.y, src1.rvec);
|
|
dest.uvec.y = vm_vec_dot3(src0.rvec.y,src0.uvec.y,src0.fvec.y, src1.uvec);
|
|
dest.fvec.y = vm_vec_dot3(src0.rvec.y,src0.uvec.y,src0.fvec.y, src1.fvec);
|
|
|
|
dest.rvec.z = vm_vec_dot3(src0.rvec.z,src0.uvec.z,src0.fvec.z, src1.rvec);
|
|
dest.uvec.z = vm_vec_dot3(src0.rvec.z,src0.uvec.z,src0.fvec.z, src1.uvec);
|
|
dest.fvec.z = vm_vec_dot3(src0.rvec.z,src0.uvec.z,src0.fvec.z, src1.fvec);
|
|
}
|
|
|
|
//extract angles from a matrix
|
|
void vm_extract_angles_matrix(vms_angvec &a,const vms_matrix &m)
|
|
{
|
|
fix cosp;
|
|
|
|
if (m.fvec.x==0 && m.fvec.z==0) //zero head
|
|
a.h = 0;
|
|
else
|
|
a.h = fix_atan2(m.fvec.z,m.fvec.x);
|
|
|
|
const auto &&ah = fix_sincos(a.h);
|
|
const auto &sinh = ah.sin;
|
|
const auto &cosh = ah.cos;
|
|
|
|
if (abs(sinh) > abs(cosh)) //sine is larger, so use it
|
|
cosp = fixdiv(m.fvec.x,sinh);
|
|
else //cosine is larger, so use it
|
|
cosp = fixdiv(m.fvec.z,cosh);
|
|
|
|
if (cosp==0 && m.fvec.y==0)
|
|
a.p = 0;
|
|
else
|
|
a.p = fix_atan2(cosp,-m.fvec.y);
|
|
|
|
|
|
if (cosp == 0) //the cosine of pitch is zero. we're pitched straight up. say no bank
|
|
|
|
a.b = 0;
|
|
|
|
else {
|
|
fix sinb,cosb;
|
|
|
|
sinb = fixdiv(m.rvec.y,cosp);
|
|
cosb = fixdiv(m.uvec.y,cosp);
|
|
|
|
if (sinb==0 && cosb==0)
|
|
a.b = 0;
|
|
else
|
|
a.b = fix_atan2(cosb,sinb);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
//extract heading and pitch from a vector, assuming bank==0
|
|
static vms_angvec &vm_extract_angles_vector_normalized(vms_angvec &a,const vms_vector &v)
|
|
{
|
|
a.b = 0; //always zero bank
|
|
a.p = fix_asin(-v.y);
|
|
if (v.x == 0 && v.z == 0)
|
|
a.h = 0;
|
|
else
|
|
a.h = fix_atan2(v.z,v.x);
|
|
return a;
|
|
}
|
|
|
|
//extract heading and pitch from a vector, assuming bank==0
|
|
void vm_extract_angles_vector(vms_angvec &a,const vms_vector &v)
|
|
{
|
|
vms_vector t;
|
|
if (vm_vec_copy_normalize(t,v))
|
|
vm_extract_angles_vector_normalized(a,t);
|
|
else
|
|
a = {};
|
|
}
|
|
|
|
//compute the distance from a point to a plane. takes the normalized normal
|
|
//of the plane (ebx), a point on the plane (edi), and the point to check (esi).
|
|
//returns distance in eax
|
|
//distance is signed, so negative dist is on the back of the plane
|
|
fix vm_dist_to_plane(const vms_vector &checkp,const vms_vector &norm,const vms_vector &planep)
|
|
{
|
|
return vm_vec_dot(vm_vec_sub(checkp,planep),norm);
|
|
}
|
|
|
|
// convert vms_matrix to vms_quaternion
|
|
void vms_quaternion_from_matrix(vms_quaternion &rq, const vms_matrix &m)
|
|
{
|
|
const auto rx = m.rvec.x;
|
|
const auto ry = m.rvec.y;
|
|
const auto rz = m.rvec.z;
|
|
const auto ux = m.uvec.x;
|
|
const auto uy = m.uvec.y;
|
|
const auto uz = m.uvec.z;
|
|
const auto fx = m.fvec.x;
|
|
const auto fy = m.fvec.y;
|
|
const auto fz = m.fvec.z;
|
|
const fix tr = rx + uy + fz;
|
|
fix qw, qx, qy, qz;
|
|
if (tr > 0) {
|
|
fix s = fixmul(fix_sqrt(tr + fl2f(1.0)), fl2f(2.0));
|
|
qw = fixmul(fl2f(0.25), s);
|
|
qx = fixdiv(fy - uz, s);
|
|
qy = fixdiv(rz - fx, s);
|
|
qz = fixdiv(ux - ry, s);
|
|
} else if ((rx > uy) & (rx > fz)) {
|
|
fix s = fixmul(fix_sqrt(fl2f(1.0) + rx - uy - fz), fl2f(2.0));
|
|
qw = fixdiv(fy - uz, s);
|
|
qx = fixmul(fl2f(0.25), s);
|
|
qy = fixdiv(ry + ux, s);
|
|
qz = fixdiv(rz + fx, s);
|
|
} else if (uy > fz) {
|
|
fix s = fixmul(fix_sqrt(fl2f(1.0) + uy - rx - fz), fl2f(2.0));
|
|
qw = fixdiv(rz - fx, s);
|
|
qx = fixdiv(ry + ux, s);
|
|
qy = fixmul(fl2f(0.25), s);
|
|
qz = fixdiv(uz + fy, s);
|
|
} else {
|
|
fix s = fixmul(fix_sqrt(fl2f(1.0) + fz - rx - uy), fl2f(2.0));
|
|
qw = fixdiv(ux - ry, s);
|
|
qx = fixdiv(rz + fx, s);
|
|
qy = fixdiv(uz + fy, s);
|
|
qz = fixmul(fl2f(0.25), s);
|
|
}
|
|
rq.w = qw / 2;
|
|
rq.x = qx / 2;
|
|
rq.y = qy / 2;
|
|
rq.z = qz / 2;
|
|
}
|
|
|
|
// convert vms_quaternion to vms_matrix
|
|
void vms_matrix_from_quaternion(vms_matrix &m, const vms_quaternion &q)
|
|
{
|
|
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);
|
|
|
|
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);
|
|
|
|
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);
|
|
|
|
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);
|
|
}
|
|
|
|
}
|