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Diffstat (limited to 'include/godot_cpp/core/Transform.cpp')
| -rw-r--r-- | include/godot_cpp/core/Transform.cpp | 319 |
1 files changed, 319 insertions, 0 deletions
diff --git a/include/godot_cpp/core/Transform.cpp b/include/godot_cpp/core/Transform.cpp new file mode 100644 index 0000000..337a49c --- /dev/null +++ b/include/godot_cpp/core/Transform.cpp @@ -0,0 +1,319 @@ +#include "Transform.h" + +#include "Basis.h" + +#include "Plane.h" +#include "Rect3.h" + +#include "Quat.h" + +namespace godot { + + + +Transform Transform::inverse_xform(const Transform& t) const { + + Vector3 v = t.origin - origin; + return Transform(basis.transpose_xform(t.basis), + basis.xform(v)); +} + +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) { + + basis.elements[0][0]=xx; + basis.elements[0][1]=xy; + basis.elements[0][2]=xz; + basis.elements[1][0]=yx; + basis.elements[1][1]=yy; + basis.elements[1][2]=yz; + basis.elements[2][0]=zx; + basis.elements[2][1]=zy; + basis.elements[2][2]=zz; + origin.x=tx; + origin.y=ty; + origin.z=tz; +} + + + +Vector3 Transform::xform(const Vector3& p_vector) const { + + return Vector3( + basis[0].dot(p_vector)+origin.x, + basis[1].dot(p_vector)+origin.y, + basis[2].dot(p_vector)+origin.z + ); +} +Vector3 Transform::xform_inv(const Vector3& p_vector) const { + + Vector3 v = p_vector - origin; + + return Vector3( + (basis.elements[0][0]*v.x ) + ( basis.elements[1][0]*v.y ) + ( basis.elements[2][0]*v.z ), + (basis.elements[0][1]*v.x ) + ( basis.elements[1][1]*v.y ) + ( basis.elements[2][1]*v.z ), + (basis.elements[0][2]*v.x ) + ( basis.elements[1][2]*v.y ) + ( basis.elements[2][2]*v.z ) + ); +} + +Plane Transform::xform(const Plane& p_plane) const { + + + Vector3 point=p_plane.normal*p_plane.d; + Vector3 point_dir=point+p_plane.normal; + point=xform(point); + point_dir=xform(point_dir); + + Vector3 normal=point_dir-point; + normal.normalize(); + real_t d=normal.dot(point); + + return Plane(normal,d); + +} +Plane Transform::xform_inv(const Plane& p_plane) const { + + Vector3 point=p_plane.normal*p_plane.d; + Vector3 point_dir=point+p_plane.normal; + xform_inv(point); + xform_inv(point_dir); + + Vector3 normal=point_dir-point; + normal.normalize(); + real_t d=normal.dot(point); + + return Plane(normal,d); + +} + +Rect3 Transform::xform(const Rect3& p_aabb) const { + /* define vertices */ + Vector3 x=basis.get_axis(0)*p_aabb.size.x; + Vector3 y=basis.get_axis(1)*p_aabb.size.y; + Vector3 z=basis.get_axis(2)*p_aabb.size.z; + Vector3 pos = xform( p_aabb.pos ); +//could be even further optimized + Rect3 new_aabb; + new_aabb.pos=pos; + new_aabb.expand_to( pos+x ); + new_aabb.expand_to( pos+y ); + new_aabb.expand_to( pos+z ); + new_aabb.expand_to( pos+x+y ); + new_aabb.expand_to( pos+x+z ); + new_aabb.expand_to( pos+y+z ); + new_aabb.expand_to( pos+x+y+z ); + return new_aabb; + +} +Rect3 Transform::xform_inv(const Rect3& p_aabb) const { + + /* define vertices */ + Vector3 vertices[8]={ + Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z+p_aabb.size.z), + Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z), + Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z), + Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z), + Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z+p_aabb.size.z), + Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z), + Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z), + Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z) + }; + + + Rect3 ret; + + ret.pos=xform_inv(vertices[0]); + + for (int i=1;i<8;i++) { + + ret.expand_to( xform_inv(vertices[i]) ); + } + + return ret; + +} + +void Transform::affine_invert() { + + basis.invert(); + origin = basis.xform(-origin); +} + +Transform Transform::affine_inverse() const { + + Transform ret=*this; + ret.affine_invert(); + return ret; + +} + + +void Transform::invert() { + + basis.transpose(); + origin = basis.xform(-origin); +} + +Transform Transform::inverse() const { + // FIXME: this function assumes the basis is a rotation matrix, with no scaling. + // Transform::affine_inverse can handle matrices with scaling, so GDScript should eventually use that. + Transform ret=*this; + ret.invert(); + return ret; +} + + +void Transform::rotate(const Vector3& p_axis,real_t p_phi) { + + *this = rotated(p_axis, p_phi); +} + +Transform Transform::rotated(const Vector3& p_axis,real_t p_phi) const{ + + return Transform(Basis( p_axis, p_phi ), Vector3()) * (*this); +} + +void Transform::rotate_basis(const Vector3& p_axis,real_t p_phi) { + + basis.rotate(p_axis,p_phi); +} + +Transform Transform::looking_at( const Vector3& p_target, const Vector3& p_up ) const { + + Transform t = *this; + t.set_look_at(origin,p_target,p_up); + return t; +} + +void Transform::set_look_at( const Vector3& p_eye, const Vector3& p_target, const Vector3& p_up ) { + + // Reference: MESA source code + Vector3 v_x, v_y, v_z; + + /* Make rotation matrix */ + + /* Z vector */ + v_z = p_eye - p_target; + + v_z.normalize(); + + v_y = p_up; + + + v_x=v_y.cross(v_z); + + /* Recompute Y = Z cross X */ + v_y=v_z.cross(v_x); + + v_x.normalize(); + v_y.normalize(); + + basis.set_axis(0,v_x); + basis.set_axis(1,v_y); + basis.set_axis(2,v_z); + origin=p_eye; + +} + +Transform Transform::interpolate_with(const Transform& p_transform, real_t p_c) const { + + /* not sure if very "efficient" but good enough? */ + + Vector3 src_scale = basis.get_scale(); + Quat src_rot = basis; + Vector3 src_loc = origin; + + Vector3 dst_scale = p_transform.basis.get_scale(); + Quat dst_rot = p_transform.basis; + Vector3 dst_loc = p_transform.origin; + + Transform dst; + dst.basis=src_rot.slerp(dst_rot,p_c); + dst.basis.scale(src_scale.linear_interpolate(dst_scale,p_c)); + dst.origin=src_loc.linear_interpolate(dst_loc,p_c); + + return dst; +} + +void Transform::scale(const Vector3& p_scale) { + + basis.scale(p_scale); + origin*=p_scale; +} + +Transform Transform::scaled(const Vector3& p_scale) const { + + Transform t = *this; + t.scale(p_scale); + return t; +} + +void Transform::scale_basis(const Vector3& p_scale) { + + basis.scale(p_scale); +} + +void Transform::translate( real_t p_tx, real_t p_ty, real_t p_tz) { + translate( Vector3(p_tx,p_ty,p_tz) ); + +} +void Transform::translate( const Vector3& p_translation ) { + + for( int i = 0; i < 3; i++ ) { + origin[i] += basis[i].dot(p_translation); + } +} + +Transform Transform::translated( const Vector3& p_translation ) const { + + Transform t=*this; + t.translate(p_translation); + return t; +} + +void Transform::orthonormalize() { + + basis.orthonormalize(); +} + +Transform Transform::orthonormalized() const { + + Transform _copy = *this; + _copy.orthonormalize(); + return _copy; +} + +bool Transform::operator==(const Transform& p_transform) const { + + return (basis==p_transform.basis && origin==p_transform.origin); +} +bool Transform::operator!=(const Transform& p_transform) const { + + return (basis!=p_transform.basis || origin!=p_transform.origin); +} + +void Transform::operator*=(const Transform& p_transform) { + + origin=xform(p_transform.origin); + basis*=p_transform.basis; +} + +Transform Transform::operator*(const Transform& p_transform) const { + + Transform t=*this; + t*=p_transform; + return t; +} + +Transform::operator String() const { + + return basis.operator String() + " - " + origin.operator String(); +} + + +Transform::Transform(const Basis& p_basis, const Vector3& p_origin) { + + basis=p_basis; + origin=p_origin; +} + +} |