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mathlib: RotateAboutX/Y/Z: change to double

This commit is contained in:
Eric Wasylishen 2017-07-05 15:02:24 -06:00
parent cf6af89bdf
commit 4853dd40ee
2 changed files with 16 additions and 16 deletions
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26
common/mathlib.cc
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@ -158,8 +158,8 @@ qvec3f CosineWeightedHemisphereSample(float u1, float u2)
qvec3f vec_from_mangle(const qvec3f &m)
{
const qvec3f mRadians = m * static_cast<float>(Q_PI / 180.0f);
const qmat3x3f rotations = qmat3x3f(RotateAboutZ(mRadians[0])) * RotateAboutY(-mRadians[1]);
const qvec3f v = rotations * qvec3f(1,0,0);
const qmat3x3d rotations = RotateAboutZ(mRadians[0]) * RotateAboutY(-mRadians[1]);
const qvec3f v = qvec3f(rotations * qvec3d(1,0,0));
return v;
}
@ -183,26 +183,26 @@ qvec3f mangle_from_vec(const qvec3f &v)
return mangle;
}
qmat3x3f RotateAboutX(float t)
qmat3x3d RotateAboutX(double t)
{
//https://en.wikipedia.org/wiki/Rotation_matrix#Examples
const float cost = cos(t);
const float sint = sin(t);
const double cost = cos(t);
const double sint = sin(t);
return qmat3x3f {
return qmat3x3d {
1, 0, 0, //col0
0, cost, sint, // col1
0, -sint, cost // col1
};
}
qmat3x3f RotateAboutY(float t)
qmat3x3d RotateAboutY(double t)
{
const float cost = cos(t);
const float sint = sin(t);
const double cost = cos(t);
const double sint = sin(t);
return qmat3x3f{
return qmat3x3d {
cost, 0, -sint, // col0
0, 1, 0, // col1
sint, 0, cost //col2
@ -214,7 +214,7 @@ qmat3x3d RotateAboutZ(double t)
const double cost = cos(t);
const double sint = sin(t);
return qmat3x3d{
return qmat3x3d {
cost, sint, 0, // col0
-sint, cost, 0, // col1
0, 0, 1 //col2
@ -238,8 +238,8 @@ qmat3x3f RotateFromUpToSurfaceNormal(const qvec3f &surfaceNormal)
cosangleFromUp = qmin(qmax(-1.0f, cosangleFromUp), 1.0f);
float radiansFromUp = acosf(cosangleFromUp);
const qmat3x3f rotations = qmat3x3f(RotateAboutZ(theta)) * RotateAboutY(radiansFromUp);
return rotations;
const qmat3x3d rotations = RotateAboutZ(theta) * RotateAboutY(radiansFromUp);
return qmat3x3f(rotations);
}
// FIXME: remove these

6
include/common/mathlib.hh
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@ -241,9 +241,9 @@ void RandomDir(vec3_t dir);
qvec3f CosineWeightedHemisphereSample(float u1, float u2);
qvec3f vec_from_mangle(const qvec3f &m);
qvec3f mangle_from_vec(const qvec3f &v);
qmat3x3f RotateAboutX(float t);
qmat3x3f RotateAboutY(float t);
qmat3x3d RotateAboutZ(double t);
qmat3x3d RotateAboutX(double radians);
qmat3x3d RotateAboutY(double radians);
qmat3x3d RotateAboutZ(double radians);
qmat3x3f RotateFromUpToSurfaceNormal(const qvec3f &surfaceNormal);
bool AABBsDisjoint(const vec3_t minsA, const vec3_t maxsA, const vec3_t minsB, const vec3_t maxsB);