Rename files and the exposed name for Transform3D

1 files changed, 232 insertions, 0 deletions

diff --git a/core/math/transform_3d.h b/core/math/transform_3d.h
new file mode 100644
index 0000000000..078a2ca11a
--- /dev/null
+++ b/core/math/transform_3d.h
@@ -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