320 lines
7.0 KiB
C++
320 lines
7.0 KiB
C++
#include "Transform.hpp"
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#include "Basis.hpp"
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#include "Plane.hpp"
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#include "AABB.hpp"
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#include "Quat.hpp"
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namespace godot {
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Transform Transform::inverse_xform(const Transform& t) const {
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Vector3 v = t.origin - origin;
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return Transform(basis.transpose_xform(t.basis),
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basis.xform(v));
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}
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void Transform::set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz,real_t tx, real_t ty, real_t tz) {
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basis.elements[0][0]=xx;
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basis.elements[0][1]=xy;
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basis.elements[0][2]=xz;
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basis.elements[1][0]=yx;
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basis.elements[1][1]=yy;
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basis.elements[1][2]=yz;
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basis.elements[2][0]=zx;
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basis.elements[2][1]=zy;
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basis.elements[2][2]=zz;
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origin.x=tx;
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origin.y=ty;
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origin.z=tz;
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}
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Vector3 Transform::xform(const Vector3& p_vector) const {
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return Vector3(
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basis[0].dot(p_vector)+origin.x,
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basis[1].dot(p_vector)+origin.y,
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basis[2].dot(p_vector)+origin.z
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);
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}
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Vector3 Transform::xform_inv(const Vector3& p_vector) const {
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Vector3 v = p_vector - origin;
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return Vector3(
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(basis.elements[0][0]*v.x ) + ( basis.elements[1][0]*v.y ) + ( basis.elements[2][0]*v.z ),
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(basis.elements[0][1]*v.x ) + ( basis.elements[1][1]*v.y ) + ( basis.elements[2][1]*v.z ),
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(basis.elements[0][2]*v.x ) + ( basis.elements[1][2]*v.y ) + ( basis.elements[2][2]*v.z )
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);
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}
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Plane Transform::xform(const Plane& p_plane) const {
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Vector3 point=p_plane.normal*p_plane.d;
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Vector3 point_dir=point+p_plane.normal;
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point=xform(point);
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point_dir=xform(point_dir);
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Vector3 normal=point_dir-point;
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normal.normalize();
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real_t d=normal.dot(point);
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return Plane(normal,d);
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}
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Plane Transform::xform_inv(const Plane& p_plane) const {
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Vector3 point=p_plane.normal*p_plane.d;
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Vector3 point_dir=point+p_plane.normal;
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xform_inv(point);
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xform_inv(point_dir);
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Vector3 normal=point_dir-point;
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normal.normalize();
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real_t d=normal.dot(point);
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return Plane(normal,d);
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}
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AABB Transform::xform(const AABB& p_aabb) const {
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/* define vertices */
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Vector3 x=basis.get_axis(0)*p_aabb.size.x;
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Vector3 y=basis.get_axis(1)*p_aabb.size.y;
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Vector3 z=basis.get_axis(2)*p_aabb.size.z;
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Vector3 pos = xform( p_aabb.position );
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//could be even further optimized
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AABB new_aabb;
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new_aabb.position=pos;
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new_aabb.expand_to( pos+x );
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new_aabb.expand_to( pos+y );
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new_aabb.expand_to( pos+z );
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new_aabb.expand_to( pos+x+y );
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new_aabb.expand_to( pos+x+z );
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new_aabb.expand_to( pos+y+z );
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new_aabb.expand_to( pos+x+y+z );
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return new_aabb;
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}
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AABB Transform::xform_inv(const AABB& p_aabb) const {
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/* define vertices */
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Vector3 vertices[8]={
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Vector3(p_aabb.position.x+p_aabb.size.x, p_aabb.position.y+p_aabb.size.y, p_aabb.position.z+p_aabb.size.z),
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Vector3(p_aabb.position.x+p_aabb.size.x, p_aabb.position.y+p_aabb.size.y, p_aabb.position.z),
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Vector3(p_aabb.position.x+p_aabb.size.x, p_aabb.position.y, p_aabb.position.z+p_aabb.size.z),
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Vector3(p_aabb.position.x+p_aabb.size.x, p_aabb.position.y, p_aabb.position.z),
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Vector3(p_aabb.position.x, p_aabb.position.y+p_aabb.size.y, p_aabb.position.z+p_aabb.size.z),
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Vector3(p_aabb.position.x, p_aabb.position.y+p_aabb.size.y, p_aabb.position.z),
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Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z+p_aabb.size.z),
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Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z)
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};
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AABB ret;
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ret.position=xform_inv(vertices[0]);
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for (int i=1;i<8;i++) {
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ret.expand_to( xform_inv(vertices[i]) );
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}
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return ret;
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}
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void Transform::affine_invert() {
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basis.invert();
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origin = basis.xform(-origin);
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}
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Transform Transform::affine_inverse() const {
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Transform ret=*this;
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ret.affine_invert();
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return ret;
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}
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void Transform::invert() {
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basis.transpose();
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origin = basis.xform(-origin);
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}
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Transform Transform::inverse() const {
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// FIXME: this function assumes the basis is a rotation matrix, with no scaling.
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// Transform::affine_inverse can handle matrices with scaling, so GDScript should eventually use that.
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Transform ret=*this;
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ret.invert();
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return ret;
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}
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void Transform::rotate(const Vector3& p_axis,real_t p_phi) {
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*this = rotated(p_axis, p_phi);
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}
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Transform Transform::rotated(const Vector3& p_axis,real_t p_phi) const{
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return Transform(Basis( p_axis, p_phi ), Vector3()) * (*this);
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}
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void Transform::rotate_basis(const Vector3& p_axis,real_t p_phi) {
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basis.rotate(p_axis,p_phi);
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}
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Transform Transform::looking_at( const Vector3& p_target, const Vector3& p_up ) const {
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Transform t = *this;
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t.set_look_at(origin,p_target,p_up);
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return t;
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}
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void Transform::set_look_at( const Vector3& p_eye, const Vector3& p_target, const Vector3& p_up ) {
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// Reference: MESA source code
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Vector3 v_x, v_y, v_z;
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/* Make rotation matrix */
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/* Z vector */
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v_z = p_eye - p_target;
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v_z.normalize();
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v_y = p_up;
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v_x=v_y.cross(v_z);
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/* Recompute Y = Z cross X */
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v_y=v_z.cross(v_x);
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v_x.normalize();
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v_y.normalize();
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basis.set_axis(0,v_x);
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basis.set_axis(1,v_y);
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basis.set_axis(2,v_z);
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origin=p_eye;
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}
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Transform Transform::interpolate_with(const Transform& p_transform, real_t p_c) const {
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/* not sure if very "efficient" but good enough? */
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Vector3 src_scale = basis.get_scale();
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Quat src_rot = basis;
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Vector3 src_loc = origin;
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Vector3 dst_scale = p_transform.basis.get_scale();
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Quat dst_rot = p_transform.basis;
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Vector3 dst_loc = p_transform.origin;
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Transform dst;
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dst.basis=src_rot.slerp(dst_rot,p_c);
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dst.basis.scale(src_scale.linear_interpolate(dst_scale,p_c));
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dst.origin=src_loc.linear_interpolate(dst_loc,p_c);
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return dst;
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}
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void Transform::scale(const Vector3& p_scale) {
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basis.scale(p_scale);
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origin*=p_scale;
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}
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Transform Transform::scaled(const Vector3& p_scale) const {
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Transform t = *this;
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t.scale(p_scale);
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return t;
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}
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void Transform::scale_basis(const Vector3& p_scale) {
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basis.scale(p_scale);
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}
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void Transform::translate( real_t p_tx, real_t p_ty, real_t p_tz) {
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translate( Vector3(p_tx,p_ty,p_tz) );
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}
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void Transform::translate( const Vector3& p_translation ) {
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for( int i = 0; i < 3; i++ ) {
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origin[i] += basis[i].dot(p_translation);
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}
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}
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Transform Transform::translated( const Vector3& p_translation ) const {
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Transform t=*this;
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t.translate(p_translation);
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return t;
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}
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void Transform::orthonormalize() {
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basis.orthonormalize();
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}
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Transform Transform::orthonormalized() const {
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Transform _copy = *this;
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_copy.orthonormalize();
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return _copy;
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}
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bool Transform::operator==(const Transform& p_transform) const {
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return (basis==p_transform.basis && origin==p_transform.origin);
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}
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bool Transform::operator!=(const Transform& p_transform) const {
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return (basis!=p_transform.basis || origin!=p_transform.origin);
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}
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void Transform::operator*=(const Transform& p_transform) {
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origin=xform(p_transform.origin);
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basis*=p_transform.basis;
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}
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Transform Transform::operator*(const Transform& p_transform) const {
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Transform t=*this;
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t*=p_transform;
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return t;
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}
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Transform::operator String() const {
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return basis.operator String() + " - " + origin.operator String();
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}
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Transform::Transform(const Basis& p_basis, const Vector3& p_origin) {
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basis=p_basis;
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origin=p_origin;
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}
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}
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