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/*************************************************************************/
/* 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 "aabb.h"
/**
@author Juan Linietsky <reduzio@gmail.com>
*/
class Transform {
public:
Matrix3 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 Matrix3& get_basis() const { return basis; }
void set_basis(const Matrix3& 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_ AABB xform(const AABB& p_aabb) const;
_FORCE_INLINE_ AABB xform_inv(const AABB& p_aabb) const;
void operator*=(const Transform& p_transform);
Transform operator*(const Transform& p_transform) const;
Transform interpolate_with(const Transform& p_transform, float 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 Matrix3& 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_ AABB Transform::xform(const AABB& 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
AABB 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_ AABB Transform::xform_inv(const AABB& 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)
};
AABB 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
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