256 lines
8.9 KiB
C++
256 lines
8.9 KiB
C++
/*************************************************************************/
|
|
/* transform.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
#ifndef TRANSFORM_H
|
|
#define TRANSFORM_H
|
|
|
|
#include "matrix3.h"
|
|
#include "plane.h"
|
|
#include "rect3.h"
|
|
/**
|
|
@author Juan Linietsky <reduzio@gmail.com>
|
|
*/
|
|
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;
|
|
|
|
_FORCE_INLINE_ Vector3 xform(const Vector3 &p_vector) const;
|
|
_FORCE_INLINE_ Vector3 xform_inv(const Vector3 &p_vector) const;
|
|
|
|
_FORCE_INLINE_ Plane xform(const Plane &p_plane) const;
|
|
_FORCE_INLINE_ Plane xform_inv(const Plane &p_plane) const;
|
|
|
|
_FORCE_INLINE_ Rect3 xform(const Rect3 &p_aabb) const;
|
|
_FORCE_INLINE_ 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;
|
|
|
|
_FORCE_INLINE_ 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() {}
|
|
};
|
|
|
|
_FORCE_INLINE_ 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);
|
|
}
|
|
_FORCE_INLINE_ 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));
|
|
}
|
|
|
|
_FORCE_INLINE_ 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);
|
|
}
|
|
_FORCE_INLINE_ 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);
|
|
}
|
|
|
|
_FORCE_INLINE_ Rect3 Transform::xform(const Rect3 &p_aabb) const {
|
|
/* define vertices */
|
|
#if 1
|
|
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;
|
|
#else
|
|
|
|
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)
|
|
};
|
|
|
|
AABB ret;
|
|
|
|
ret.pos = xform(vertices[0]);
|
|
|
|
for (int i = 1; i < 8; i++) {
|
|
|
|
ret.expand_to(xform(vertices[i]));
|
|
}
|
|
|
|
return ret;
|
|
#endif
|
|
}
|
|
_FORCE_INLINE_ 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;
|
|
}
|
|
|
|
#ifdef OPTIMIZED_TRANSFORM_IMPL_OVERRIDE
|
|
|
|
#else
|
|
|
|
struct OptimizedTransform {
|
|
|
|
Transform transform;
|
|
|
|
_FORCE_INLINE_ void invert() { transform.invert(); }
|
|
_FORCE_INLINE_ void affine_invert() { transform.affine_invert(); }
|
|
_FORCE_INLINE_ Vector3 xform(const Vector3 &p_vec) const { return transform.xform(p_vec); };
|
|
_FORCE_INLINE_ Vector3 xform_inv(const Vector3 &p_vec) const { return transform.xform_inv(p_vec); };
|
|
_FORCE_INLINE_ OptimizedTransform operator*(const OptimizedTransform &p_ot) const { return OptimizedTransform(transform * p_ot.transform); }
|
|
_FORCE_INLINE_ Transform get_transform() const { return transform; }
|
|
_FORCE_INLINE_ void set_transform(const Transform &p_transform) { transform = p_transform; }
|
|
|
|
OptimizedTransform(const Transform &p_transform) {
|
|
transform = p_transform;
|
|
}
|
|
};
|
|
|
|
#endif
|
|
|
|
#endif
|