math_angles.h

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/*
===========================================================================
Copyright (C) 1999-2005 Id Software, Inc.

This file is part of Quake III Arena source code.

Quake III Arena source code is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the License,
or (at your option) any later version.

Quake III Arena source code is distributed in the hope that it will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with Foobar; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
===========================================================================
*/
#ifndef __MATH_ANGLES_H__
#define __MATH_ANGLES_H__

#include <stdlib.h>
#include <assert.h>

#include "math_vector.h"

class mat3_t;
class quat_t;
class idVec3_t;
typedef idVec3_t &vec3_p;

class angles_t {
public:
	float			pitch;
	float			yaw;
	float			roll;

					angles_t();
					angles_t( float pitch, float yaw, float roll );
					angles_t( const idVec3_t &vec );

	friend void		toAngles( idVec3_t &src, angles_t &dst );
	friend void		toAngles( quat_t &src, angles_t &dst );
	friend void		toAngles( mat3_t &src, angles_t &dst );

					operator vec3_p();

	float			operator[]( int index ) const;
	float&			operator[]( int index );

	void 			set( float pitch, float yaw, float roll );

	void			operator=( angles_t const &a );
	void			operator=( idVec3_t const &a );

	friend angles_t	operator+( const angles_t &a, const angles_t &b );
	angles_t		&operator+=( angles_t const &a );
	angles_t		&operator+=( idVec3_t const &a );

	friend angles_t	operator-( angles_t &a, angles_t &b );
	angles_t		&operator-=( angles_t &a );

	friend angles_t	operator*( const angles_t &a, float b );
	friend angles_t	operator*( float a, const angles_t &b );
	angles_t		&operator*=( float a );

	friend int		operator==(	angles_t &a, angles_t &b );
					
	friend int		operator!=(	angles_t &a, angles_t &b );

	void			toVectors( idVec3_t *forward, idVec3_t *right = NULL, idVec3_t *up = NULL );
	idVec3_t			toForward( void );

	angles_t		&Zero( void );

	angles_t		&Normalize360( void );
	angles_t		&Normalize180( void );
};

extern angles_t ang_zero;

inline angles_t::angles_t() {}

inline angles_t::angles_t( float pitch, float yaw, float roll ) {
	this->pitch = pitch;
	this->yaw	= yaw;
	this->roll	= roll;
}

inline angles_t::angles_t( const idVec3_t &vec ) {
	this->pitch = vec.x;
	this->yaw	= vec.y;
	this->roll	= vec.z;
}

inline float angles_t::operator[]( int index ) const {
	assert( ( index >= 0 ) && ( index < 3 ) );
	return ( &pitch )[ index ];
}

inline float& angles_t::operator[]( int index ) {
	assert( ( index >= 0 ) && ( index < 3 ) );
	return ( &pitch )[ index ];
}

inline angles_t::operator vec3_p( void ) {
	return *( idVec3_t * )&pitch;
}

inline void angles_t::set( float pitch, float yaw, float roll ) {
	this->pitch = pitch;
	this->yaw	= yaw;
	this->roll	= roll;
}

inline void angles_t::operator=( angles_t const &a ) {
	pitch	= a.pitch;
	yaw		= a.yaw;
	roll	= a.roll;
}

inline void angles_t::operator=( idVec3_t const &a ) {
	pitch	= a[ 0 ];
	yaw		= a[ 1 ];
	roll	= a[ 2 ];
}

inline angles_t operator+( const angles_t &a, const angles_t &b ) {
	return angles_t( a.pitch + b.pitch, a.yaw + b.yaw, a.roll + b.roll );
}

inline angles_t& angles_t::operator+=( angles_t const &a ) {
	pitch	+= a.pitch;
	yaw		+= a.yaw;
	roll	+= a.roll;

	return *this;
}

inline angles_t& angles_t::operator+=( idVec3_t const &a ) {
	pitch	+= a.x;
	yaw	+= a.y;
	roll	+= a.z;

	return *this;
}

inline angles_t operator-( angles_t &a, angles_t &b ) {
	return angles_t( a.pitch - b.pitch, a.yaw - b.yaw, a.roll - b.roll );
}

inline angles_t& angles_t::operator-=( angles_t &a ) {
	pitch	-= a.pitch;
	yaw		-= a.yaw;
	roll	-= a.roll;

	return *this;
}

inline angles_t operator*( const angles_t &a, float b ) {
	return angles_t( a.pitch * b, a.yaw * b, a.roll * b );
}

inline angles_t operator*( float a, const angles_t &b ) {
	return angles_t( a * b.pitch, a * b.yaw, a * b.roll );
}

inline angles_t& angles_t::operator*=( float a ) {
	pitch	*= a;
	yaw		*= a;
	roll	*= a;

	return *this;
}

inline int operator==( angles_t &a, angles_t &b ) {
	return ( ( a.pitch == b.pitch ) && ( a.yaw == b.yaw ) && ( a.roll == b.roll ) );
}

inline int operator!=( angles_t &a, angles_t &b ) {
	return ( ( a.pitch != b.pitch ) || ( a.yaw != b.yaw ) || ( a.roll != b.roll ) );
}

inline angles_t& angles_t::Zero( void ) {
	pitch	= 0.0f;
	yaw		= 0.0f;
	roll	= 0.0f;

	return *this;
}

#endif /* !__MATH_ANGLES_H__ */