Move Luanti rotation matrix helpers to own header

src/client/content_cao.cpp

@@ -16,6 +16,7 @@
 #include "client/meshgen/collector.h"
 #include "util/basic_macros.h"
 #include "util/numeric.h"
+#include "util/rotation_matrix.h"
 #include "util/serialize.h"
 #include "camera.h" // CameraModes
 #include "collision.h"
@@ -955,7 +956,7 @@ void GenericCAO::updateNodePos()
 		getPosRotMatrix().setTranslation(pos);
 		if (node != m_spritenode) { // rotate if not a sprite
 			v3f rot = m_is_local_player ? -m_rotation : -rot_translator.val_current;
-			setPitchYawRoll(getPosRotMatrix(), rot);
+			setPitchYawRollRad(getPosRotMatrix(), rot * core::RADTODEG);
 		}
 	}
 }

src/mapgen/treegen.cpp

@@ -5,8 +5,8 @@
 // Copyright (C) 2015-2018 paramat
 
 #include <stack>
+#include <matrix4.h>
 #include "treegen.h"
-#include "irr_v3d.h"
 #include "util/pointer.h"
 #include "util/numeric.h"
 #include "servermap.h"

src/objdef.cpp

@@ -6,9 +6,10 @@
 #include "util/numeric.h"
 #include "log.h"
 #include "gamedef.h"
-#include "porting.h" // strcasecmp
+#include "porting.h" // strcasecmp for Windows
 
 #include <cassert>
+#include <cstring> // strcasecmp for everything else
 
 ObjDefManager::ObjDefManager(IGameDef *gamedef, ObjDefType type)
 {

src/profiler.cpp

@@ -4,6 +4,7 @@
 
 #include "profiler.h"
 #include "porting.h"
+#include <cstring>
 
 static Profiler main_profiler;
 Profiler *g_profiler = &main_profiler;

src/server/unit_sao.h

@@ -8,7 +8,7 @@
 #include "object_properties.h"
 #include "serveractiveobject.h"
 #include <quaternion.h>
-#include "util/numeric.h"
+#include "util/rotation_matrix.h"
 
 class UnitSAO : public ServerActiveObject
 {
@@ -26,7 +26,7 @@ public:
 	const v3f getTotalRotation() const {
 		// This replicates what happens clientside serverside
 		core::matrix4 rot;
-		setPitchYawRoll(rot, -m_rotation);
+		setPitchYawRollRad(rot, -m_rotation * core::DEGTORAD);
 		v3f res;
 		// First rotate by m_rotation, then rotate by the automatic rotate yaw
 		(core::quaternion(v3f(0, -m_rotation_add_yaw * core::DEGTORAD, 0))

src/unittest/test_utilities.cpp

@@ -2,12 +2,14 @@
 // SPDX-License-Identifier: LGPL-2.1-or-later
 // Copyright (C) 2013 celeron55, Perttu Ahola <celeron55@gmail.com>
 
+#include "irrMath.h"
 #include "test.h"
 
 #include <cmath>
 #include <limits>
 #include "util/enriched_string.h"
 #include "util/numeric.h"
+#include "util/rotation_matrix.h"
 #include "util/string.h"
 #include "util/base64.h"
 #include "util/colorize.h"
@@ -459,11 +461,11 @@ static bool within(const core::matrix4 &m1, const core::matrix4 &m2,
 	return true;
 }
 
-static bool roundTripsDeg(const v3f &v, const f32 precision)
+static bool roundTripsRad(const v3f &v, const f32 precision)
 {
 	core::matrix4 m;
-	setPitchYawRoll(m, v);
+	setPitchYawRollRad(m, v);
-	return within(v, getPitchYawRoll(m), precision);
+	return within(v, getPitchYawRollRad(m), precision);
 }
 
 void TestUtilities::testEulerConversion()
@@ -484,12 +486,8 @@ void TestUtilities::testEulerConversion()
 	// produce the same results. Check also that the conversion
 	// works both ways for these values.
 	v1 = v3f(M_PI/3.0, M_PI/5.0, M_PI/4.0);
-	v2 = v3f(60.0f, 36.0f, 45.0f);
 	setPitchYawRollRad(m1, v1);
-	setPitchYawRoll(m2, v2);
-	UASSERT(within(m1, m2, tolL));
 	UASSERT(within(getPitchYawRollRad(m1), v1, tolL));
-	UASSERT(within(getPitchYawRoll(m2), v2, tolH));
 
 	// Check the rotation matrix produced.
 	UASSERT(within(M1[0], 0.932004869f, tolL));
@@ -535,17 +533,17 @@ void TestUtilities::testEulerConversion()
 	UASSERT(within(M1[10], M2[0], tolL));
 
 	// Check that Eulers that produce near gimbal-lock still round-trip
-	UASSERT(roundTripsDeg(v3f(89.9999f, 17.f, 0.f), tolH));
+	UASSERT(roundTripsRad(core::DEGTORAD * v3f(89.9999f, 17.f, 0.f), tolH));
-	UASSERT(roundTripsDeg(v3f(89.9999f, 0.f, 19.f), tolH));
+	UASSERT(roundTripsRad(core::DEGTORAD * v3f(89.9999f, 0.f, 19.f), tolH));
-	UASSERT(roundTripsDeg(v3f(89.9999f, 17.f, 19.f), tolH));
+	UASSERT(roundTripsRad(core::DEGTORAD * v3f(89.9999f, 17.f, 19.f), tolH));
 
 	// Check that Eulers at an angle > 90 degrees may not round-trip...
-	v1 = v3f(90.00001f, 1.f, 1.f);
+	v1 = core::DEGTORAD * v3f(90.00001f, 1.f, 1.f);
-	setPitchYawRoll(m1, v1);
+	setPitchYawRollRad(m1, v1);
-	v2 = getPitchYawRoll(m1);
+	v2 = getPitchYawRollRad(m1);
 	//UASSERT(within(v1, v2, tolL)); // this is typically false
 	// ... however the rotation matrix is the same for both
-	setPitchYawRoll(m2, v2);
+	setPitchYawRollRad(m2, v2);
 	UASSERT(within(m1, m2, tolL));
 }
 

src/util/CMakeLists.txt

@@ -9,6 +9,7 @@ set(util_SRCS
 	${CMAKE_CURRENT_SOURCE_DIR}/ieee_float.cpp
 	${CMAKE_CURRENT_SOURCE_DIR}/metricsbackend.cpp
 	${CMAKE_CURRENT_SOURCE_DIR}/numeric.cpp
+	${CMAKE_CURRENT_SOURCE_DIR}/rotation_matrix.cpp
 	${CMAKE_CURRENT_SOURCE_DIR}/pointedthing.cpp
 	${CMAKE_CURRENT_SOURCE_DIR}/pointabilities.cpp
 	${CMAKE_CURRENT_SOURCE_DIR}/quicktune.cpp

src/util/numeric.cpp

@@ -157,38 +157,3 @@ s16 adjustDist(s16 dist, float zoom_fov)
 {
 	return std::round(adjustDist((float)dist, zoom_fov));
 }
-
-void setPitchYawRollRad(core::matrix4 &m, v3f rot)
-{
-	f64 a1 = rot.Z, a2 = rot.X, a3 = rot.Y;
-	f64 c1 = cos(a1), s1 = sin(a1);
-	f64 c2 = cos(a2), s2 = sin(a2);
-	f64 c3 = cos(a3), s3 = sin(a3);
-	f32 *M = m.pointer();
-
-	M[0] = s1 * s2 * s3 + c1 * c3;
-	M[1] = s1 * c2;
-	M[2] = s1 * s2 * c3 - c1 * s3;
-
-	M[4] = c1 * s2 * s3 - s1 * c3;
-	M[5] = c1 * c2;
-	M[6] = c1 * s2 * c3 + s1 * s3;
-
-	M[8] = c2 * s3;
-	M[9] = -s2;
-	M[10] = c2 * c3;
-}
-
-v3f getPitchYawRollRad(const core::matrix4 &m)
-{
-	const f32 *M = m.pointer();
-
-	f64 a1 = atan2(M[1], M[5]);
-	f32 c2 = std::sqrt((f64)M[10]*M[10] + (f64)M[8]*M[8]);
-	f32 a2 = atan2f(-M[9], c2);
-	f64 c1 = cos(a1);
-	f64 s1 = sin(a1);
-	f32 a3 = atan2f(s1*M[6] - c1*M[2], c1*M[0] - s1*M[4]);
-
-	return v3f(a2, a3, a1);
-}

src/util/numeric.h

@@ -11,7 +11,6 @@
 #include "irr_v3d.h"
 #include "irr_aabb3d.h"
 #include "SColor.h"
-#include <matrix4.h>
 #include <cmath>
 #include <algorithm>
 
@@ -478,20 +477,6 @@ inline void wrappedApproachShortest(T &current, const T target, const T stepsize
 	}
 }
 
-void setPitchYawRollRad(core::matrix4 &m, v3f rot);
-
-inline void setPitchYawRoll(core::matrix4 &m, v3f rot)
-{
-	setPitchYawRollRad(m, rot * core::DEGTORAD);
-}
-
-v3f getPitchYawRollRad(const core::matrix4 &m);
-
-inline v3f getPitchYawRoll(const core::matrix4 &m)
-{
-	return getPitchYawRollRad(m) * core::RADTODEG;
-}
-
 // Muliply the RGB value of a color linearly, and clamp to black/white
 inline video::SColor multiplyColorValue(const video::SColor &color, float mod)
 {

src/util/rotation_matrix.cpp

@@ -0,0 +1,36 @@
+#include "rotation_matrix.h"
+
+void setPitchYawRollRad(core::matrix4 &m, v3f rot)
+{
+	f64 a1 = rot.Z, a2 = rot.X, a3 = rot.Y;
+	f64 c1 = cos(a1), s1 = sin(a1);
+	f64 c2 = cos(a2), s2 = sin(a2);
+	f64 c3 = cos(a3), s3 = sin(a3);
+	f32 *M = m.pointer();
+
+	M[0] = s1 * s2 * s3 + c1 * c3;
+	M[1] = s1 * c2;
+	M[2] = s1 * s2 * c3 - c1 * s3;
+
+	M[4] = c1 * s2 * s3 - s1 * c3;
+	M[5] = c1 * c2;
+	M[6] = c1 * s2 * c3 + s1 * s3;
+
+	M[8] = c2 * s3;
+	M[9] = -s2;
+	M[10] = c2 * c3;
+}
+
+v3f getPitchYawRollRad(const core::matrix4 &m)
+{
+	const f32 *M = m.pointer();
+
+	f64 a1 = atan2(M[1], M[5]);
+	f32 c2 = std::sqrt((f64)M[10]*M[10] + (f64)M[8]*M[8]);
+	f32 a2 = atan2f(-M[9], c2);
+	f64 c1 = cos(a1);
+	f64 s1 = sin(a1);
+	f32 a3 = atan2f(s1*M[6] - c1*M[2], c1*M[0] - s1*M[4]);
+
+	return v3f(a2, a3, a1);
+}

src/util/rotation_matrix.h

@@ -0,0 +1,8 @@
+#include <matrix4.h>
+#include "irr_v3d.h"
+
+/// @note This is not consistent with Irrlicht's setRotationRadians
+void setPitchYawRollRad(core::matrix4 &m, v3f rot);
+
+/// @note This is not consistent with Irrlicht's getRotationRadians
+v3f getPitchYawRollRad(const core::matrix4 &m);