1 ////////////////////////////////////////////////////////////////////////////////
2 // Scorched3D (c) 2000-2009
4 // This file is part of Scorched3D.
6 // Scorched3D is free software; you can redistribute it and/or modify
7 // it under the terms of the GNU General Public License as published by
8 // the Free Software Foundation; either version 2 of the License, or
9 // (at your option) any later version.
11 // Scorched3D is distributed in the hope that it will be useful,
12 // but WITHOUT ANY WARRANTY; without even the implied warranty of
13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 // GNU General Public License for more details.
16 // You should have received a copy of the GNU General Public License
17 // along with Scorched3D; if not, write to the Free Software
18 // Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 ////////////////////////////////////////////////////////////////////////////////
21 #if !defined(__INCLUDE_ModelMathsh_INCLUDE__)
22 #define __INCLUDE_ModelMathsh_INCLUDE__
24 #include <common/Vector.h>
29 static void angleQuaternion(const Vector
&angles
,
31 static void quaternionSlerp(float p
[4],
32 float q
[4], float t
, float qt
[4]);
34 static void angleMatrix(
35 const Vector
&angles
, float matrix
[3][4]);
36 static void quaternionMatrix(
37 float quaternion
[4], float matrix
[3][4]);
39 static void concatTransforms(const float in1
[3][4],
40 const float in2
[3][4], float out
[3][4]);
41 static void vectorIRotate(const Vector
&in1
,
42 const float in2
[3][4], Vector
&out
);
43 static float dotProduct(const Vector
&v1
,
46 return v1
[0]*v2
[0] + v1
[1]*v2
[1] + v1
[2]*v2
[2];
48 static void vectorRotate(const Vector
&in1
,
49 const float in2
[3][4], Vector
&out
)
51 out
[0] = dotProduct(in1
, in2
[0]);
52 out
[1] = dotProduct(in1
, in2
[1]);
53 out
[2] = dotProduct(in1
, in2
[2]);
60 #endif // __INCLUDE_ModelMathsh_INCLUDE__