133 lines
2.8 KiB
C++
133 lines
2.8 KiB
C++
#ifndef BASIS_H
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#define BASIS_H
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#include "Defs.hpp"
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#include "Vector3.hpp"
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namespace godot {
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class Quat;
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class Basis {
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public:
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union {
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Vector3 elements[3];
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Vector3 x, y, z;
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};
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Basis(const Quat &p_quat); // euler
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Basis(const Vector3 &p_euler); // euler
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Basis(const Vector3 &p_axis, real_t p_phi);
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Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2);
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Basis(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);
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Basis();
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const Vector3 &operator[](int axis) const;
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Vector3 &operator[](int axis);
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void invert();
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bool isequal_approx(const Basis &a, const Basis &b) const;
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bool is_orthogonal() const;
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bool is_rotation() const;
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void transpose();
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Basis inverse() const;
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Basis transposed() const;
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real_t determinant() const;
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Vector3 get_axis(int p_axis) const;
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void set_axis(int p_axis, const Vector3 &p_value);
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void rotate(const Vector3 &p_axis, real_t p_phi);
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Basis rotated(const Vector3 &p_axis, real_t p_phi) const;
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void scale(const Vector3 &p_scale);
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Basis scaled(const Vector3 &p_scale) const;
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Vector3 get_scale() const;
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Vector3 get_euler_xyz() const;
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void set_euler_xyz(const Vector3 &p_euler);
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Vector3 get_euler_yxz() const;
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void set_euler_yxz(const Vector3 &p_euler);
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inline Vector3 get_euler() const { return get_euler_yxz(); }
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inline void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }
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// transposed dot products
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real_t tdotx(const Vector3 &v) const;
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real_t tdoty(const Vector3 &v) const;
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real_t tdotz(const Vector3 &v) const;
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bool operator==(const Basis &p_matrix) const;
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bool operator!=(const Basis &p_matrix) const;
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Vector3 xform(const Vector3 &p_vector) const;
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Vector3 xform_inv(const Vector3 &p_vector) const;
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void operator*=(const Basis &p_matrix);
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Basis operator*(const Basis &p_matrix) const;
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void operator+=(const Basis &p_matrix);
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Basis operator+(const Basis &p_matrix) const;
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void operator-=(const Basis &p_matrix);
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Basis operator-(const Basis &p_matrix) const;
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void operator*=(real_t p_val);
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Basis operator*(real_t p_val) const;
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int get_orthogonal_index() const; // down below
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void set_orthogonal_index(int p_index); // down below
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operator String() const;
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void get_axis_and_angle(Vector3 &r_axis, real_t &r_angle) const;
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/* create / set */
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void 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);
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Vector3 get_column(int i) const;
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Vector3 get_row(int i) const;
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Vector3 get_main_diagonal() const;
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void set_row(int i, const Vector3 &p_row);
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Basis transpose_xform(const Basis &m) const;
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void orthonormalize();
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Basis orthonormalized() const;
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bool is_symmetric() const;
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Basis diagonalize();
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operator Quat() const;
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};
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} // namespace godot
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#endif // BASIS_H
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