Initial commit

Torque/SDK/engine/math/mathUtils.cc

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+//-----------------------------------------------------------------------------
+// Torque Game Engine
+// Copyright (C) GarageGames.com, Inc.
+//-----------------------------------------------------------------------------
+
+#include "math/mMath.h"
+#include "math/mathUtils.h"
+#include "math/mRandom.h"
+
+namespace MathUtils
+{
+
+MRandomLCG sgRandom(0xdeadbeef); ///< Our random number generator.
+
+//------------------------------------------------------------------------------
+// Creates orientation matrix from a direction vector.  Assumes ( 0 0 1 ) is up.
+//------------------------------------------------------------------------------
+MatrixF createOrientFromDir( Point3F &direction )
+{
+	Point3F j = direction;
+	Point3F k(0.0, 0.0, 1.0);
+	Point3F i;
+	
+	mCross( j, k, &i );
+
+	if( i.magnitudeSafe() == 0.0 )
+	{
+		i = Point3F( 0.0, -1.0, 0.0 );
+	}
+
+	i.normalizeSafe();
+	mCross( i, j, &k );
+
+   MatrixF mat( true );
+   mat.setColumn( 0, i );
+   mat.setColumn( 1, j );
+   mat.setColumn( 2, k );
+
+	return mat;
+}
+
+
+//------------------------------------------------------------------------------
+// Creates random direction given angle parameters similar to the particle system.
+// The angles are relative to the specified axis.
+//------------------------------------------------------------------------------
+Point3F randomDir( Point3F &axis, F32 thetaAngleMin, F32 thetaAngleMax,
+                                 F32 phiAngleMin, F32 phiAngleMax )
+{
+   MatrixF orient = createOrientFromDir( axis );
+   Point3F axisx;
+   orient.getColumn( 0, &axisx );
+
+   F32 theta = (thetaAngleMax - thetaAngleMin) * sgRandom.randF() + thetaAngleMin;
+   F32 phi = (phiAngleMax - phiAngleMin) * sgRandom.randF() + phiAngleMin;
+
+   // Both phi and theta are in degs.  Create axis angles out of them, and create the
+   //  appropriate rotation matrix...
+   AngAxisF thetaRot(axisx, theta * (M_PI / 180.0));
+   AngAxisF phiRot(axis,    phi   * (M_PI / 180.0));
+
+   Point3F ejectionAxis = axis;
+
+   MatrixF temp(true);
+   thetaRot.setMatrix(&temp);
+   temp.mulP(ejectionAxis);
+   phiRot.setMatrix(&temp);
+   temp.mulP(ejectionAxis);
+
+   return ejectionAxis;
+}
+
+
+//------------------------------------------------------------------------------
+// Returns yaw and pitch angles from a given vector.  Angles are in RADIANS.
+// Assumes north is (0.0, 1.0, 0.0), the degrees move upwards clockwise.
+// The range of yaw is 0 - 2PI.  The range of pitch is -PI/2 - PI/2.
+// ASSUMES Z AXIS IS UP
+//------------------------------------------------------------------------------
+void getAnglesFromVector( VectorF &vec, F32 &yawAng, F32 &pitchAng )
+{
+   yawAng = mAtan( vec.x, vec.y );
+
+   if( yawAng < 0.0 )
+   {
+      yawAng += M_2PI;
+   }
+
+   if( fabs(vec.x) > fabs(vec.y) )
+   {
+      pitchAng = mAtan( fabs(vec.z), fabs(vec.x) );
+   }
+   else
+   {
+      pitchAng = mAtan( fabs(vec.z), fabs(vec.y) );
+   }
+
+   if( vec.z < 0.0 )
+   {
+      pitchAng = -pitchAng;
+   }
+
+}
+
+
+//------------------------------------------------------------------------------
+// Returns vector from given yaw and pitch angles.  Angles are in RADIANS.
+// Assumes north is (0.0, 1.0, 0.0), the degrees move upwards clockwise.
+// The range of yaw is 0 - 2PI.  The range of pitch is -PI/2 - PI/2.
+// ASSUMES Z AXIS IS UP
+//------------------------------------------------------------------------------
+void getVectorFromAngles( VectorF &vec, F32 &yawAng, F32 &pitchAng )
+{
+   VectorF  pnt( 0.0, 1.0, 0.0 );
+
+   EulerF   rot( -pitchAng, 0.0, 0.0 );
+   MatrixF  mat( rot );
+
+   rot.set( 0.0, 0.0, yawAng );
+   MatrixF   mat2( rot );
+
+   mat.mulV( pnt );
+   mat2.mulV( pnt );
+
+   vec = pnt;
+
+}
+
+
+
+} // end namespace MathUtils