422 lines
9.9 KiB
C++
422 lines
9.9 KiB
C++
#ifndef BASIS_H
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#define BASIS_H
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#include <gdnative/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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private:
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// This helper template is for mimicking the behavior difference between the engine
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// and script interfaces that logically script sees matrices as column major, while
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// the engine stores them in row major to efficiently take advantage of SIMD
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// instructions in case of matrix-vector multiplications.
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// With this helper template native scripts see the data as if it was column major
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// without actually transposing the basis matrix at the script-engine boundary.
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template <int column>
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class ColumnVector3 {
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private:
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template <int column1, int component>
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class ColumnVectorComponent {
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private:
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Vector3 elements[3];
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protected:
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inline ColumnVectorComponent<column1, component> &operator=(const ColumnVectorComponent<column1, component> &p_value) {
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return *this = real_t(p_value);
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}
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inline ColumnVectorComponent(const ColumnVectorComponent<column1, component> &p_value) {
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*this = real_t(p_value);
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}
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inline ColumnVectorComponent<column1, component> &operator=(const real_t &p_value) {
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elements[component][column1] = p_value;
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return *this;
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}
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inline operator real_t() const {
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return elements[component][column1];
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}
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};
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public:
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enum Axis {
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AXIS_X,
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AXIS_Y,
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AXIS_Z,
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};
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union {
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ColumnVectorComponent<column, 0> x;
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ColumnVectorComponent<column, 1> y;
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ColumnVectorComponent<column, 2> z;
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Vector3 elements[3]; // Not for direct access, use [] operator instead
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};
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inline ColumnVector3<column> &operator=(const ColumnVector3<column> &p_value) {
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return *this = Vector3(p_value);
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}
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inline ColumnVector3(const ColumnVector3<column> &p_value) {
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*this = Vector3(p_value);
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}
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inline ColumnVector3<column> &operator=(const Vector3 &p_value) {
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elements[0][column] = p_value.x;
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elements[1][column] = p_value.y;
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elements[2][column] = p_value.z;
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return *this;
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}
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inline operator Vector3() const {
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return Vector3(elements[0][column], elements[1][column], elements[2][column]);
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}
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// Unfortunately, we also need to replicate the other interfaces of Vector3 in
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// order for being able to directly operate on these "meta-Vector3" objects without
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// an explicit cast or an intermediate assignment to a real Vector3 object.
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inline const real_t &operator[](int p_axis) const {
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return elements[p_axis][column];
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}
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inline real_t &operator[](int p_axis) {
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return elements[p_axis][column];
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}
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inline ColumnVector3<column> &operator+=(const Vector3 &p_v) {
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return *this = *this + p_v;
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}
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inline Vector3 operator+(const Vector3 &p_v) const {
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return Vector3(*this) + p_v;
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}
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inline ColumnVector3<column> &operator-=(const Vector3 &p_v) {
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return *this = *this - p_v;
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}
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inline Vector3 operator-(const Vector3 &p_v) const {
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return Vector3(*this) - p_v;
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}
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inline ColumnVector3<column> &operator*=(const Vector3 &p_v) {
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return *this = *this * p_v;
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}
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inline Vector3 operator*(const Vector3 &p_v) const {
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return Vector3(*this) * p_v;
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}
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inline ColumnVector3<column> &operator/=(const Vector3 &p_v) {
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return *this = *this / p_v;
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}
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inline Vector3 operator/(const Vector3 &p_v) const {
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return Vector3(*this) / p_v;
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}
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inline ColumnVector3<column> &operator*=(real_t p_scalar) {
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return *this = *this * p_scalar;
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}
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inline Vector3 operator*(real_t p_scalar) const {
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return Vector3(*this) * p_scalar;
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}
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inline ColumnVector3<column> &operator/=(real_t p_scalar) {
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return *this = *this / p_scalar;
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}
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inline Vector3 operator/(real_t p_scalar) const {
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return Vector3(*this) / p_scalar;
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}
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inline Vector3 operator-() const {
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return -Vector3(*this);
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}
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inline bool operator==(const Vector3 &p_v) const {
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return Vector3(*this) == p_v;
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}
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inline bool operator!=(const Vector3 &p_v) const {
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return Vector3(*this) != p_v;
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}
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inline bool operator<(const Vector3 &p_v) const {
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return Vector3(*this) < p_v;
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}
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inline bool operator<=(const Vector3 &p_v) const {
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return Vector3(*this) <= p_v;
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}
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inline Vector3 abs() const {
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return Vector3(*this).abs();
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}
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inline Vector3 ceil() const {
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return Vector3(*this).ceil();
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}
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inline Vector3 cross(const Vector3 &b) const {
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return Vector3(*this).cross(b);
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}
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inline Vector3 linear_interpolate(const Vector3 &p_b, real_t p_t) const {
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return Vector3(*this).linear_interpolate(p_b, p_t);
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}
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inline Vector3 cubic_interpolate(const Vector3 &b, const Vector3 &pre_a, const Vector3 &post_b, const real_t t) const {
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return Vector3(*this).cubic_interpolate(b, pre_a, post_b, t);
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}
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inline Vector3 bounce(const Vector3 &p_normal) const {
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return Vector3(*this).bounce(p_normal);
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}
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inline real_t length() const {
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return Vector3(*this).length();
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}
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inline real_t length_squared() const {
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return Vector3(*this).length_squared();
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}
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inline real_t distance_squared_to(const Vector3 &b) const {
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return Vector3(*this).distance_squared_to(b);
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}
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inline real_t distance_to(const Vector3 &b) const {
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return Vector3(*this).distance_to(b);
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}
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inline real_t dot(const Vector3 &b) const {
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return Vector3(*this).dot(b);
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}
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inline real_t angle_to(const Vector3 &b) const {
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return Vector3(*this).angle_to(b);
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}
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inline Vector3 floor() const {
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return Vector3(*this).floor();
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}
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inline Vector3 inverse() const {
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return Vector3(*this).inverse();
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}
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inline bool is_normalized() const {
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return Vector3(*this).is_normalized();
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}
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inline Basis outer(const Vector3 &b) const {
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return Vector3(*this).outer(b);
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}
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inline int max_axis() const {
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return Vector3(*this).max_axis();
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}
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inline int min_axis() const {
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return Vector3(*this).min_axis();
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}
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inline void normalize() {
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Vector3 v = *this;
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v.normalize();
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*this = v;
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}
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inline Vector3 normalized() const {
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return Vector3(*this).normalized();
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}
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inline Vector3 reflect(const Vector3 &by) const {
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return Vector3(*this).reflect(by);
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}
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inline Vector3 rotated(const Vector3 &axis, const real_t phi) const {
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return Vector3(*this).rotated(axis, phi);
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}
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inline void rotate(const Vector3 &p_axis, real_t p_phi) {
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Vector3 v = *this;
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v.rotate(p_axis, p_phi);
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*this = v;
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}
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inline Vector3 slide(const Vector3 &by) const {
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return Vector3(*this).slide(by);
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}
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inline void snap(real_t p_val) {
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Vector3 v = *this;
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v.snap(p_val);
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*this = v;
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}
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inline Vector3 snapped(const float by) {
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return Vector3(*this).snapped(by);
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}
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inline operator String() const {
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return String(Vector3(*this));
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}
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};
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public:
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union {
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ColumnVector3<0> x;
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ColumnVector3<1> y;
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ColumnVector3<2> z;
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Vector3 elements[3]; // Not for direct access, use [] operator instead
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};
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inline Basis(const Basis &p_basis) {
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elements[0] = p_basis.elements[0];
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elements[1] = p_basis.elements[1];
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elements[2] = p_basis.elements[2];
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}
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inline Basis &operator=(const Basis &p_basis) {
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elements[0] = p_basis.elements[0];
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elements[1] = p_basis.elements[1];
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elements[2] = p_basis.elements[2];
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return *this;
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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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return get_axis(axis);
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}
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ColumnVector3<0> &operator[](int axis) {
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// We need to do a little pointer magic to get this to work, because the
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// ColumnVector3 template takes the axis as a template parameter.
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// Don't touch this unless you're sure what you're doing!
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return (reinterpret_cast<Basis *>(reinterpret_cast<real_t *>(this) + axis))->x;
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}
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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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