Rename files and the exposed name for Transform3D
This commit is contained in:
Aaron Franke
232
core/math/transform_3d.h
Normal file
232
core/math/transform_3d.h
Normal file
@ -0,0 +1,232 @@
|
||||
/*************************************************************************/
|
||||
/* transform_3d.h */
|
||||
/*************************************************************************/
|
||||
/* This file is part of: */
|
||||
/* GODOT ENGINE */
|
||||
/* https://godotengine.org */
|
||||
/*************************************************************************/
|
||||
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
||||
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
|
||||
/* */
|
||||
/* 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 "core/math/aabb.h"
|
||||
#include "core/math/basis.h"
|
||||
#include "core/math/plane.h"
|
||||
|
||||
class Transform3D {
|
||||
public:
|
||||
Basis basis;
|
||||
Vector3 origin;
|
||||
|
||||
void invert();
|
||||
Transform3D inverse() const;
|
||||
|
||||
void affine_invert();
|
||||
Transform3D affine_inverse() const;
|
||||
|
||||
Transform3D 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 = Vector3(0, 1, 0));
|
||||
Transform3D looking_at(const Vector3 &p_target, const Vector3 &p_up = Vector3(0, 1, 0)) const;
|
||||
|
||||
void scale(const Vector3 &p_scale);
|
||||
Transform3D 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);
|
||||
Transform3D 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();
|
||||
Transform3D orthonormalized() const;
|
||||
bool is_equal_approx(const Transform3D &p_transform) const;
|
||||
|
||||
bool operator==(const Transform3D &p_transform) const;
|
||||
bool operator!=(const Transform3D &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_ AABB xform(const AABB &p_aabb) const;
|
||||
_FORCE_INLINE_ AABB xform_inv(const AABB &p_aabb) const;
|
||||
|
||||
_FORCE_INLINE_ Vector<Vector3> xform(const Vector<Vector3> &p_array) const;
|
||||
_FORCE_INLINE_ Vector<Vector3> xform_inv(const Vector<Vector3> &p_array) const;
|
||||
|
||||
void operator*=(const Transform3D &p_transform);
|
||||
Transform3D operator*(const Transform3D &p_transform) const;
|
||||
|
||||
Transform3D interpolate_with(const Transform3D &p_transform, real_t p_c) const;
|
||||
|
||||
_FORCE_INLINE_ Transform3D inverse_xform(const Transform3D &t) const {
|
||||
Vector3 v = t.origin - origin;
|
||||
return Transform3D(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.set(xx, xy, xz, yx, yy, yz, zx, zy, zz);
|
||||
origin.x = tx;
|
||||
origin.y = ty;
|
||||
origin.z = tz;
|
||||
}
|
||||
|
||||
operator String() const;
|
||||
|
||||
Transform3D() {}
|
||||
Transform3D(const Basis &p_basis, const Vector3 &p_origin = Vector3());
|
||||
Transform3D(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z, const Vector3 &p_origin);
|
||||
Transform3D(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 ox, real_t oy, real_t oz);
|
||||
};
|
||||
|
||||
_FORCE_INLINE_ Vector3 Transform3D::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 Transform3D::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 Transform3D::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 Transform3D::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);
|
||||
}
|
||||
|
||||
_FORCE_INLINE_ AABB Transform3D::xform(const AABB &p_aabb) const {
|
||||
/* http://dev.theomader.com/transform-bounding-boxes/ */
|
||||
Vector3 min = p_aabb.position;
|
||||
Vector3 max = p_aabb.position + p_aabb.size;
|
||||
Vector3 tmin, tmax;
|
||||
for (int i = 0; i < 3; i++) {
|
||||
tmin[i] = tmax[i] = origin[i];
|
||||
for (int j = 0; j < 3; j++) {
|
||||
real_t e = basis[i][j] * min[j];
|
||||
real_t f = basis[i][j] * max[j];
|
||||
if (e < f) {
|
||||
tmin[i] += e;
|
||||
tmax[i] += f;
|
||||
} else {
|
||||
tmin[i] += f;
|
||||
tmax[i] += e;
|
||||
}
|
||||
}
|
||||
}
|
||||
AABB r_aabb;
|
||||
r_aabb.position = tmin;
|
||||
r_aabb.size = tmax - tmin;
|
||||
return r_aabb;
|
||||
}
|
||||
|
||||
_FORCE_INLINE_ AABB Transform3D::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;
|
||||
}
|
||||
|
||||
Vector<Vector3> Transform3D::xform(const Vector<Vector3> &p_array) const {
|
||||
Vector<Vector3> array;
|
||||
array.resize(p_array.size());
|
||||
|
||||
const Vector3 *r = p_array.ptr();
|
||||
Vector3 *w = array.ptrw();
|
||||
|
||||
for (int i = 0; i < p_array.size(); ++i) {
|
||||
w[i] = xform(r[i]);
|
||||
}
|
||||
return array;
|
||||
}
|
||||
|
||||
Vector<Vector3> Transform3D::xform_inv(const Vector<Vector3> &p_array) const {
|
||||
Vector<Vector3> array;
|
||||
array.resize(p_array.size());
|
||||
|
||||
const Vector3 *r = p_array.ptr();
|
||||
Vector3 *w = array.ptrw();
|
||||
|
||||
for (int i = 0; i < p_array.size(); ++i) {
|
||||
w[i] = xform_inv(r[i]);
|
||||
}
|
||||
return array;
|
||||
}
|
||||
|
||||
#endif // TRANSFORM_H
|
||||
Reference in New Issue
Block a user