73 lines
2.1 KiB
Text
73 lines
2.1 KiB
Text
/*
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Coordinate Utility helper class.
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(C)2018 Marisa Kirisame, UnSX Team.
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Released under the GNU Lesser General Public License version 3 (or later).
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See https://www.gnu.org/licenses/lgpl-3.0.txt for its terms.
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*/
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Class swwm_CoordUtil
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{
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// In Tim Sweeney's own words: "transform by a pitch-yaw-roll rotation"
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static Vector3, Vector3, Vector3 GetUnAxes( double pitch, double yaw, double roll )
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{
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Vector3 x = (1,0,0), y = (0,-1,0), z = (0,0,1); // y inverted for left-handed result
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Vector3 a, b, c;
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// pitch and roll in gzdoom work in reverse compared to UE
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pitch = -pitch;
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roll = -roll;
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// yaw
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a = (cos(yaw),sin(yaw),0);
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b = (-sin(yaw),cos(yaw),0);
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c = (0,0,1);
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x = (x dot a, x dot b, x dot c);
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y = (y dot a, y dot b, y dot c);
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z = (z dot a, z dot b, z dot c);
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// pitch
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a = (cos(pitch),0,sin(pitch));
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b = (0,1,0);
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c = (-sin(pitch),0,cos(pitch));
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x = (x dot a, x dot b, x dot c);
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y = (y dot a, y dot b, y dot c);
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z = (z dot a, z dot b, z dot c);
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// roll
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a = (1,0,0);
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b = (0,cos(roll),-sin(roll));
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c = (0,sin(roll),cos(roll));
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x = (x dot a, x dot b, x dot c);
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y = (y dot a, y dot b, y dot c);
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z = (z dot a, z dot b, z dot c);
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return x, y, z;
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}
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// In Tim Sweeney's own words: "detransform by a pitch-yaw-roll rotation"
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static Vector3, Vector3, Vector3 GetAxes( double pitch, double yaw, double roll )
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{
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Vector3 x = (1,0,0), y = (0,-1,0), z = (0,0,1); // y inverted for left-handed result
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Vector3 a, b, c;
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// pitch and roll in gzdoom work in reverse compared to UE
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pitch = -pitch;
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roll = -roll;
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// inverse roll
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a = (1,0,0);
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b = (0,cos(roll),sin(roll));
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c = (0,-sin(roll),cos(roll));
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x = (x dot a, x dot b, x dot c);
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y = (y dot a, y dot b, y dot c);
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z = (z dot a, z dot b, z dot c);
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// inverse pitch
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a = (cos(pitch),0,-sin(pitch));
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b = (0,1,0);
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c = (sin(pitch),0,cos(pitch));
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x = (x dot a, x dot b, x dot c);
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y = (y dot a, y dot b, y dot c);
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z = (z dot a, z dot b, z dot c);
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// inverse yaw
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a = (cos(yaw),-sin(yaw),0);
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b = (sin(yaw),cos(yaw),0);
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c = (0,0,1);
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x = (x dot a, x dot b, x dot c);
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y = (y dot a, y dot b, y dot c);
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z = (z dot a, z dot b, z dot c);
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return x, y, z;
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}
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}
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