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219 lines
5.6 KiB
C++
219 lines
5.6 KiB
C++
/*************************************************************************/
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/* transform.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "transform.h"
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#include "math_funcs.h"
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#include "os/copymem.h"
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#include "print_string.h"
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void Transform::affine_invert() {
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basis.invert();
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origin = basis.xform(-origin);
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}
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Transform Transform::affine_inverse() const {
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Transform ret=*this;
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ret.affine_invert();
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return ret;
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}
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void Transform::invert() {
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basis.transpose();
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origin = basis.xform(-origin);
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}
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Transform Transform::inverse() const {
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Transform ret=*this;
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ret.invert();
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return ret;
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}
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void Transform::rotate(const Vector3& p_axis,real_t p_phi) {
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*this = *this * Transform( Matrix3( p_axis, p_phi ), Vector3() );
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}
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Transform Transform::rotated(const Vector3& p_axis,real_t p_phi) const{
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return *this * Transform( Matrix3( p_axis, p_phi ), Vector3() );
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}
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void Transform::rotate_basis(const Vector3& p_axis,real_t p_phi) {
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basis.rotate(p_axis,p_phi);
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}
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Transform Transform::looking_at( const Vector3& p_target, const Vector3& p_up ) const {
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Transform t = *this;
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t.set_look_at(origin,p_target,p_up);
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return t;
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}
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void Transform::set_look_at( const Vector3& p_eye, const Vector3& p_target, const Vector3& p_up ) {
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// Reference: MESA source code
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Vector3 v_x, v_y, v_z;
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/* Make rotation matrix */
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/* Z vector */
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v_z = p_eye - p_target;
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v_z.normalize();
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v_y = p_up;
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v_x=v_y.cross(v_z);
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/* Recompute Y = Z cross X */
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v_y=v_z.cross(v_x);
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v_x.normalize();
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v_y.normalize();
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basis.set_axis(0,v_x);
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basis.set_axis(1,v_y);
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basis.set_axis(2,v_z);
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origin=p_eye;
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}
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Transform Transform::interpolate_with(const Transform& p_transform, float p_c) const {
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/* not sure if very "efficient" but good enough? */
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Vector3 src_scale = basis.get_scale();
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Quat src_rot = basis;
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Vector3 src_loc = origin;
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Vector3 dst_scale = p_transform.basis.get_scale();
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Quat dst_rot = p_transform.basis;
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Vector3 dst_loc = p_transform.origin;
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Transform dst;
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dst.basis=src_rot.slerp(dst_rot,p_c);
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dst.basis.scale(src_scale.linear_interpolate(dst_scale,p_c));
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dst.origin=src_loc.linear_interpolate(dst_loc,p_c);
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return dst;
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}
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void Transform::scale(const Vector3& p_scale) {
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basis.scale(p_scale);
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origin*=p_scale;
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}
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Transform Transform::scaled(const Vector3& p_scale) const {
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Transform t = *this;
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t.scale(p_scale);
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return t;
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}
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void Transform::scale_basis(const Vector3& p_scale) {
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basis.scale(p_scale);
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}
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void Transform::translate( real_t p_tx, real_t p_ty, real_t p_tz) {
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translate( Vector3(p_tx,p_ty,p_tz) );
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}
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void Transform::translate( const Vector3& p_translation ) {
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for( int i = 0; i < 3; i++ ) {
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origin[i] += basis[i].dot(p_translation);
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}
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}
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Transform Transform::translated( const Vector3& p_translation ) const {
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Transform t=*this;
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t.translate(p_translation);
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return t;
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}
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void Transform::orthonormalize() {
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basis.orthonormalize();
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}
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Transform Transform::orthonormalized() const {
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Transform _copy = *this;
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_copy.orthonormalize();
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return _copy;
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}
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bool Transform::operator==(const Transform& p_transform) const {
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return (basis==p_transform.basis && origin==p_transform.origin);
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}
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bool Transform::operator!=(const Transform& p_transform) const {
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return (basis!=p_transform.basis || origin!=p_transform.origin);
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}
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void Transform::operator*=(const Transform& p_transform) {
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origin=xform(p_transform.origin);
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basis*=p_transform.basis;
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}
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Transform Transform::operator*(const Transform& p_transform) const {
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Transform t=*this;
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t*=p_transform;
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return t;
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}
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Transform::operator String() const {
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return basis.operator String() + " - " + origin.operator String();
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}
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Transform::Transform(const Matrix3& p_basis, const Vector3& p_origin) {
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basis=p_basis;
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origin=p_origin;
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}
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