summaryrefslogtreecommitdiffstats
path: root/src/variant/transform3d.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'src/variant/transform3d.cpp')
-rw-r--r--src/variant/transform3d.cpp87
1 files changed, 44 insertions, 43 deletions
diff --git a/src/variant/transform3d.cpp b/src/variant/transform3d.cpp
index bd1e5c1..5f55fd3 100644
--- a/src/variant/transform3d.cpp
+++ b/src/variant/transform3d.cpp
@@ -58,13 +58,13 @@ Transform3D Transform3D::inverse() const {
return ret;
}
-void Transform3D::rotate(const Vector3 &p_axis, real_t p_phi) {
- *this = rotated(p_axis, p_phi);
+void Transform3D::rotate(const Vector3 &p_axis, real_t p_angle) {
+ *this = rotated(p_axis, p_angle);
}
-Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_phi) const {
+Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_angle) const {
// Equivalent to left multiplication
- Basis p_basis(p_axis, p_phi);
+ Basis p_basis(p_axis, p_angle);
return Transform3D(p_basis * basis, p_basis.xform(origin));
}
@@ -74,51 +74,29 @@ Transform3D Transform3D::rotated_local(const Vector3 &p_axis, real_t p_angle) co
return Transform3D(basis * p_basis, origin);
}
-void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_phi) {
- basis.rotate(p_axis, p_phi);
+void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_angle) {
+ basis.rotate(p_axis, p_angle);
}
Transform3D Transform3D::looking_at(const Vector3 &p_target, const Vector3 &p_up) const {
+#ifdef MATH_CHECKS
+ ERR_FAIL_COND_V_MSG(origin.is_equal_approx(p_target), Transform3D(), "The transform's origin and target can't be equal.");
+#endif
Transform3D t = *this;
- t.set_look_at(origin, p_target, p_up);
+ t.basis = Basis::looking_at(p_target - origin, p_up);
return t;
}
void Transform3D::set_look_at(const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up) {
#ifdef MATH_CHECKS
- ERR_FAIL_COND(p_eye == p_target);
- ERR_FAIL_COND(p_up.length() == 0);
-#endif
- // RefCounted: 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);
-#ifdef MATH_CHECKS
- ERR_FAIL_COND(v_x.length() == 0);
+ ERR_FAIL_COND_MSG(p_eye.is_equal_approx(p_target), "The eye and target vectors can't be equal.");
#endif
-
- /* Recompute Y = Z cross X */
- v_y = v_z.cross(v_x);
-
- v_x.normalize();
- v_y.normalize();
-
- basis.set(v_x, v_y, v_z);
-
+ basis = Basis::looking_at(p_target - p_eye, p_up);
origin = p_eye;
}
Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t p_c) const {
- /* not sure if very "efficient" but good enough? */
+ Transform3D interp;
Vector3 src_scale = basis.get_scale();
Quaternion src_rot = basis.get_rotation_quaternion();
@@ -128,7 +106,6 @@ Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t
Quaternion dst_rot = p_transform.basis.get_rotation_quaternion();
Vector3 dst_loc = p_transform.origin;
- Transform3D interp;
interp.basis.set_quaternion_scale(src_rot.slerp(dst_rot, p_c).normalized(), src_scale.lerp(dst_scale, p_c));
interp.origin = src_loc.lerp(dst_loc, p_c);
@@ -154,11 +131,11 @@ void Transform3D::scale_basis(const Vector3 &p_scale) {
basis.scale(p_scale);
}
-void Transform3D::translate(real_t p_tx, real_t p_ty, real_t p_tz) {
- translate(Vector3(p_tx, p_ty, p_tz));
+void Transform3D::translate_local(real_t p_tx, real_t p_ty, real_t p_tz) {
+ translate_local(Vector3(p_tx, p_ty, p_tz));
}
-void Transform3D::translate(const Vector3 &p_translation) {
+void Transform3D::translate_local(const Vector3 &p_translation) {
for (int i = 0; i < 3; i++) {
origin[i] += basis[i].dot(p_translation);
}
@@ -184,6 +161,16 @@ Transform3D Transform3D::orthonormalized() const {
return _copy;
}
+void Transform3D::orthogonalize() {
+ basis.orthogonalize();
+}
+
+Transform3D Transform3D::orthogonalized() const {
+ Transform3D _copy = *this;
+ _copy.orthogonalize();
+ return _copy;
+}
+
bool Transform3D::is_equal_approx(const Transform3D &p_transform) const {
return basis.is_equal_approx(p_transform.basis) && origin.is_equal_approx(p_transform.origin);
}
@@ -207,8 +194,22 @@ Transform3D Transform3D::operator*(const Transform3D &p_transform) const {
return t;
}
+void Transform3D::operator*=(const real_t p_val) {
+ origin *= p_val;
+ basis *= p_val;
+}
+
+Transform3D Transform3D::operator*(const real_t p_val) const {
+ Transform3D ret(*this);
+ ret *= p_val;
+ return ret;
+}
+
Transform3D::operator String() const {
- return basis.operator String() + " - " + origin.operator String();
+ return "[X: " + basis.get_column(0).operator String() +
+ ", Y: " + basis.get_column(1).operator String() +
+ ", Z: " + basis.get_column(2).operator String() +
+ ", O: " + origin.operator String() + "]";
}
Transform3D::Transform3D(const Basis &p_basis, const Vector3 &p_origin) :
@@ -218,9 +219,9 @@ Transform3D::Transform3D(const Basis &p_basis, const Vector3 &p_origin) :
Transform3D::Transform3D(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z, const Vector3 &p_origin) :
origin(p_origin) {
- basis.set_axis(0, p_x);
- basis.set_axis(1, p_y);
- basis.set_axis(2, p_z);
+ basis.set_column(0, p_x);
+ basis.set_column(1, p_y);
+ basis.set_column(2, p_z);
}
Transform3D::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) {