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#ifndef TRANSFORM_H
#define TRANSFORM_H
#include "Basis.h"
#include "Plane.h"
#include "Rect3.h"
namespace godot {
class Transform {
public:
Basis basis;
Vector3 origin;
void invert();
Transform inverse() const;
void affine_invert();
Transform affine_inverse() const;
Transform rotated(const Vector3& p_axis,real_t p_phi) const;
void rotate(const Vector3& p_axis,real_t p_phi);
void rotate_basis(const Vector3& p_axis,real_t p_phi);
void set_look_at( const Vector3& p_eye, const Vector3& p_target, const Vector3& p_up );
Transform looking_at( const Vector3& p_target, const Vector3& p_up ) const;
void scale(const Vector3& p_scale);
Transform scaled(const Vector3& p_scale) const;
void scale_basis(const Vector3& p_scale);
void translate( real_t p_tx, real_t p_ty, real_t p_tz );
void translate( const Vector3& p_translation );
Transform translated( const Vector3& p_translation ) const;
const Basis& get_basis() const { return basis; }
void set_basis(const Basis& p_basis) { basis=p_basis; }
const Vector3& get_origin() const { return origin; }
void set_origin(const Vector3& p_origin) { origin=p_origin; }
void orthonormalize();
Transform orthonormalized() const;
bool operator==(const Transform& p_transform) const;
bool operator!=(const Transform& p_transform) const;
Vector3 xform(const Vector3& p_vector) const;
Vector3 xform_inv(const Vector3& p_vector) const;
Plane xform(const Plane& p_plane) const;
Plane xform_inv(const Plane& p_plane) const;
Rect3 xform(const Rect3& p_aabb) const;
Rect3 xform_inv(const Rect3& p_aabb) const;
void operator*=(const Transform& p_transform);
Transform operator*(const Transform& p_transform) const;
Transform interpolate_with(const Transform& p_transform, real_t p_c) const;
Transform inverse_xform(const Transform& t) const {
Vector3 v = t.origin - origin;
return Transform(basis.transpose_xform(t.basis),
basis.xform(v));
}
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) {
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;
}
operator String() const;
Transform(const Basis& p_basis, const Vector3& p_origin=Vector3());
Transform() {}
};
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;
}
}
namespace godot {
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;
}
}
#endif // TRANSFORM_H
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