Function ConvertAxisAmountToEuler

physics/collide.cpp:1570–1614

}

void ConvertAxisAmountToEuler(vector *n, float *w, vector *e) {
  float s;
  float c;
  float t;

  float scale = *w / .0001f;
  float w_n = .0001f;
  vector s_result;

  if (*w == 0.0f) {
    *e = Zero_vector;
    return;
  }

  s = sin(.0001f);
  c = cos(.0001f);
  t = 1.0f - c;

  matrix rotmat;
  const float sx = s * n->x;
  const float sy = s * n->y;
  const float sz = s * n->z;
  const float txy = t * n->x * n->y;
  const float txz = t * n->x * n->z;
  const float tyz = t * n->y * n->z;
  const float txx = t * n->x * n->x;
  const float tyy = t * n->y * n->y;
  const float tzz = t * n->z * n->z;

  rotmat.rvec.x = txx + c;
  rotmat.rvec.y = txy - sz;
  rotmat.rvec.z = txz + sy;
  rotmat.uvec.x = txy + sz;
  rotmat.uvec.y = tyy + c;
  rotmat.uvec.z = tyz - sx;
  rotmat.fvec.x = txz - sy;
  rotmat.fvec.y = tyz + sx;
  rotmat.fvec.z = tzz + c;

  CollideExtractAnglesFromMatrix(&s_result, &rotmat);

  e->x = (s_result.x) * scale * (65535.0f / (2.0 * PI));
  e->y = (s_result.y) * scale * (65535.0f / (2.0 * PI));
  e->z = (s_result.z) * scale * (65535.0f / (2.0 * PI));
}

void bump_obj_against_fixed(object *obj, vector *collision_point, vector *collision_normal) {
  ASSERT(std::isfinite(obj->mtype.phys_info.rotvel.x));