365 lines
9.0 KiB
C#
365 lines
9.0 KiB
C#
using System;
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using System.Runtime.InteropServices;
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#if REAL_T_IS_DOUBLE
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using real_t = System.Double;
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#else
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using real_t = System.Single;
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#endif
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namespace Godot
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{
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[StructLayout(LayoutKind.Sequential)]
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public struct Transform2D : IEquatable<Transform2D>
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{
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private static readonly Transform2D identity = new Transform2D
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(
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new Vector2(1f, 0f),
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new Vector2(0f, 1f),
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new Vector2(0f, 0f)
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);
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public Vector2 x;
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public Vector2 y;
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public Vector2 o;
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public static Transform2D Identity
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{
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get { return identity; }
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}
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public Vector2 Origin
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{
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get { return o; }
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}
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public real_t Rotation
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{
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get { return Mathf.Atan2(y.x, o.y); }
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}
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public Vector2 Scale
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{
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get { return new Vector2(x.Length(), y.Length()); }
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}
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public Vector2 this[int index]
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{
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get
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{
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switch (index)
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{
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case 0:
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return x;
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case 1:
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return y;
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case 2:
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return o;
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default:
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throw new IndexOutOfRangeException();
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}
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}
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set
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{
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switch (index)
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{
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case 0:
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x = value;
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return;
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case 1:
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y = value;
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return;
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case 2:
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o = value;
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return;
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default:
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throw new IndexOutOfRangeException();
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}
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}
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}
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public real_t this[int index, int axis]
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{
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get
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{
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switch (index)
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{
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case 0:
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return x[axis];
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case 1:
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return y[axis];
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default:
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throw new IndexOutOfRangeException();
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}
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}
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set
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{
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switch (index)
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{
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case 0:
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x[axis] = value;
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return;
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case 1:
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y[axis] = value;
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return;
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default:
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throw new IndexOutOfRangeException();
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}
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}
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}
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public Transform2D AffineInverse()
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{
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Transform2D inv = this;
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real_t det = this[0, 0] * this[1, 1] - this[1, 0] * this[0, 1];
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if (det == 0)
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{
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return new Transform2D
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(
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float.NaN, float.NaN,
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float.NaN, float.NaN,
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float.NaN, float.NaN
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);
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}
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real_t idet = 1.0f / det;
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real_t temp = this[0, 0];
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this[0, 0] = this[1, 1];
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this[1, 1] = temp;
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this[0] *= new Vector2(idet, -idet);
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this[1] *= new Vector2(-idet, idet);
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this[2] = BasisXform(-this[2]);
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return inv;
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}
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public Vector2 BasisXform(Vector2 v)
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{
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return new Vector2(Tdotx(v), Tdoty(v));
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}
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public Vector2 BasisXformInv(Vector2 v)
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{
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return new Vector2(x.Dot(v), y.Dot(v));
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}
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public Transform2D InterpolateWith(Transform2D m, real_t c)
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{
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real_t r1 = Rotation;
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real_t r2 = m.Rotation;
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Vector2 s1 = Scale;
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Vector2 s2 = m.Scale;
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// Slerp rotation
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Vector2 v1 = new Vector2(Mathf.Cos(r1), Mathf.Sin(r1));
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Vector2 v2 = new Vector2(Mathf.Cos(r2), Mathf.Sin(r2));
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real_t dot = v1.Dot(v2);
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// Clamp dot to [-1, 1]
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dot = (dot < -1.0f) ? -1.0f : ((dot > 1.0f) ? 1.0f : dot);
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Vector2 v = new Vector2();
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if (dot > 0.9995f)
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{
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// Linearly interpolate to avoid numerical precision issues
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v = v1.LinearInterpolate(v2, c).Normalized();
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}
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else
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{
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real_t angle = c * Mathf.Acos(dot);
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Vector2 v3 = (v2 - v1 * dot).Normalized();
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v = v1 * Mathf.Cos(angle) + v3 * Mathf.Sin(angle);
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}
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// Extract parameters
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Vector2 p1 = Origin;
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Vector2 p2 = m.Origin;
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// Construct matrix
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Transform2D res = new Transform2D(Mathf.Atan2(v.y, v.x), p1.LinearInterpolate(p2, c));
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Vector2 scale = s1.LinearInterpolate(s2, c);
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res.x *= scale;
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res.y *= scale;
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return res;
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}
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public Transform2D Inverse()
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{
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Transform2D inv = this;
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// Swap
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real_t temp = inv.x.y;
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inv.x.y = inv.y.x;
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inv.y.x = temp;
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inv.o = inv.BasisXform(-inv.o);
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return inv;
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}
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public Transform2D Orthonormalized()
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{
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Transform2D on = this;
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Vector2 onX = on.x;
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Vector2 onY = on.y;
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onX.Normalize();
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onY = onY - onX * (onX.Dot(onY));
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onY.Normalize();
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on.x = onX;
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on.y = onY;
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return on;
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}
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public Transform2D Rotated(real_t phi)
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{
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return this * new Transform2D(phi, new Vector2());
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}
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public Transform2D Scaled(Vector2 scale)
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{
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Transform2D copy = this;
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copy.x *= scale;
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copy.y *= scale;
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copy.o *= scale;
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return copy;
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}
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private real_t Tdotx(Vector2 with)
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{
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return this[0, 0] * with[0] + this[1, 0] * with[1];
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}
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private real_t Tdoty(Vector2 with)
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{
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return this[0, 1] * with[0] + this[1, 1] * with[1];
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}
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public Transform2D Translated(Vector2 offset)
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{
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Transform2D copy = this;
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copy.o += copy.BasisXform(offset);
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return copy;
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}
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public Vector2 Xform(Vector2 v)
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{
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return new Vector2(Tdotx(v), Tdoty(v)) + o;
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}
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public Vector2 XformInv(Vector2 v)
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{
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Vector2 vInv = v - o;
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return new Vector2(x.Dot(vInv), y.Dot(vInv));
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}
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// Constructors
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public Transform2D(Vector2 xAxis, Vector2 yAxis, Vector2 origin)
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{
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this.x = xAxis;
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this.y = yAxis;
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this.o = origin;
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}
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public Transform2D(real_t xx, real_t xy, real_t yx, real_t yy, real_t ox, real_t oy)
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{
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this.x = new Vector2(xx, xy);
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this.y = new Vector2(yx, yy);
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this.o = new Vector2(ox, oy);
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}
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public Transform2D(real_t rot, Vector2 pos)
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{
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real_t cr = Mathf.Cos( (real_t)rot);
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real_t sr = Mathf.Sin( (real_t)rot);
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x.x = cr;
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y.y = cr;
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x.y = -sr;
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y.x = sr;
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o = pos;
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}
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public static Transform2D operator *(Transform2D left, Transform2D right)
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{
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left.o = left.Xform(right.o);
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real_t x0, x1, y0, y1;
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x0 = left.Tdotx(right.x);
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x1 = left.Tdoty(right.x);
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y0 = left.Tdotx(right.y);
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y1 = left.Tdoty(right.y);
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left.x.x = x0;
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left.x.y = x1;
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left.y.x = y0;
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left.y.y = y1;
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return left;
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}
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public static bool operator ==(Transform2D left, Transform2D right)
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{
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return left.Equals(right);
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}
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public static bool operator !=(Transform2D left, Transform2D right)
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{
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return !left.Equals(right);
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}
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public override bool Equals(object obj)
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{
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if (obj is Transform2D)
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{
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return Equals((Transform2D)obj);
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}
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return false;
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}
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public bool Equals(Transform2D other)
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{
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return x.Equals(other.x) && y.Equals(other.y) && o.Equals(other.o);
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}
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public override int GetHashCode()
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{
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return x.GetHashCode() ^ y.GetHashCode() ^ o.GetHashCode();
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}
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public override string ToString()
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{
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return String.Format("({0}, {1}, {2})", new object[]
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{
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this.x.ToString(),
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this.y.ToString(),
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this.o.ToString()
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});
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}
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public string ToString(string format)
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{
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return String.Format("({0}, {1}, {2})", new object[]
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{
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this.x.ToString(format),
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this.y.ToString(format),
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this.o.ToString(format)
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});
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}
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}
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}
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