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#include "Transform.hpp"
#include "Basis.hpp"
#include "AABB.hpp"
#include "Plane.hpp"
#include "Quat.hpp"
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.elements[0].dot(p_vector) + origin.x,
basis.elements[1].dot(p_vector) + origin.y,
basis.elements[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;
point = xform_inv(point);
point_dir = xform_inv(point_dir);
Vector3 normal = point_dir - point;
normal.normalize();
real_t d = normal.dot(point);
return Plane(normal, d);
}
AABB Transform::xform(const AABB &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.position);
//could be even further optimized
AABB new_aabb;
new_aabb.position = 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;
}
AABB Transform::xform_inv(const AABB &p_aabb) const {
/* define vertices */
Vector3 vertices[8] = {
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),
Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z),
Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z),
Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z),
Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z),
Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z),
Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z),
Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z)
};
AABB ret;
ret.position = 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.elements[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;
}
} // namespace godot
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