205 lines
6.4 KiB
C++
205 lines
6.4 KiB
C++
#ifndef GODOT_TRANSFORM3D_HPP
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#define GODOT_TRANSFORM3D_HPP
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#include <godot_cpp/variant/aabb.hpp>
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#include <godot_cpp/variant/basis.hpp>
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#include <godot_cpp/core/math.hpp>
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#include <godot_cpp/variant/packed_vector3_array.hpp>
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#include <godot_cpp/variant/plane.hpp>
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namespace godot {
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class Transform3D {
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public:
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_FORCE_INLINE_ GDNativeTypePtr ptr() const { return (void *)this; }
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Basis basis;
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Vector3 origin;
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void invert();
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Transform3D inverse() const;
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void affine_invert();
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Transform3D affine_inverse() const;
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Transform3D rotated(const Vector3 &p_axis, real_t p_phi) const;
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void rotate(const Vector3 &p_axis, real_t p_phi);
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void rotate_basis(const Vector3 &p_axis, real_t p_phi);
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void set_look_at(const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0));
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Transform3D looking_at(const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0)) const;
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void scale(const Vector3 &p_scale);
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Transform3D scaled(const Vector3 &p_scale) const;
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void scale_basis(const Vector3 &p_scale);
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void translate(real_t p_tx, real_t p_ty, real_t p_tz);
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void translate(const Vector3 &p_translation);
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Transform3D translated(const Vector3 &p_translation) const;
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const Basis &get_basis() const { return basis; }
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void set_basis(const Basis &p_basis) { basis = p_basis; }
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const Vector3 &get_origin() const { return origin; }
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void set_origin(const Vector3 &p_origin) { origin = p_origin; }
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void orthonormalize();
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Transform3D orthonormalized() const;
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bool is_equal_approx(const Transform3D &p_transform) const;
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bool operator==(const Transform3D &p_transform) const;
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bool operator!=(const Transform3D &p_transform) const;
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inline Vector3 xform(const Vector3 &p_vector) const;
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inline Vector3 xform_inv(const Vector3 &p_vector) const;
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inline Plane xform(const Plane &p_plane) const;
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inline Plane xform_inv(const Plane &p_plane) const;
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inline AABB xform(const AABB &p_aabb) const;
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inline AABB xform_inv(const AABB &p_aabb) const;
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inline PackedVector3Array xform(const PackedVector3Array &p_array) const;
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inline PackedVector3Array xform_inv(const PackedVector3Array &p_array) const;
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void operator*=(const Transform3D &p_transform);
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Transform3D operator*(const Transform3D &p_transform) const;
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Transform3D interpolate_with(const Transform3D &p_transform, real_t p_c) const;
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inline Transform3D inverse_xform(const Transform3D &t) const {
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Vector3 v = t.origin - origin;
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return Transform3D(basis.transpose_xform(t.basis),
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basis.xform(v));
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}
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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, real_t tx, real_t ty, real_t tz) {
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basis.set(xx, xy, xz, yx, yy, yz, zx, zy, 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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operator String() const;
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Transform3D() {}
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Transform3D(const Basis &p_basis, const Vector3 &p_origin = Vector3());
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Transform3D(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z, const Vector3 &p_origin);
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Transform3D(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 ox, real_t oy, real_t oz);
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};
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inline Vector3 Transform3D::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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inline Vector3 Transform3D::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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inline Plane Transform3D::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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inline Plane Transform3D::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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point = xform_inv(point);
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point_dir = 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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inline AABB Transform3D::xform(const AABB &p_aabb) const {
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/* http://dev.theomader.com/transform-bounding-boxes/ */
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Vector3 min = p_aabb.position;
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Vector3 max = p_aabb.position + p_aabb.size;
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Vector3 tmin, tmax;
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for (int i = 0; i < 3; i++) {
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tmin[i] = tmax[i] = origin[i];
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for (int j = 0; j < 3; j++) {
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real_t e = basis[i][j] * min[j];
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real_t f = basis[i][j] * max[j];
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if (e < f) {
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tmin[i] += e;
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tmax[i] += f;
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} else {
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tmin[i] += f;
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tmax[i] += e;
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}
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}
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}
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AABB r_aabb;
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r_aabb.position = tmin;
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r_aabb.size = tmax - tmin;
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return r_aabb;
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}
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inline AABB Transform3D::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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PackedVector3Array Transform3D::xform(const PackedVector3Array &p_array) const {
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PackedVector3Array array;
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array.resize(p_array.size());
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for (int i = 0; i < p_array.size(); ++i) {
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array[i] = xform(p_array[i]);
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}
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return array;
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}
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PackedVector3Array Transform3D::xform_inv(const PackedVector3Array &p_array) const {
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PackedVector3Array array;
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array.resize(p_array.size());
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for (int i = 0; i < p_array.size(); ++i) {
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array[i] = xform_inv(p_array[i]);
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}
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return array;
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}
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} // namespace godot
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#endif // GODOT_TRANSFORM_HPP
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