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using System;
using System.Runtime.InteropServices;
#if REAL_T_IS_DOUBLE
using real_t = System.Double;
#else
using real_t = System.Single;
#endif
namespace Godot
{
[StructLayout(LayoutKind.Sequential)]
public struct Transform : IEquatable<Transform>
{
public Basis basis;
public Vector3 origin;
public Transform AffineInverse()
{
Basis basisInv = basis.Inverse();
return new Transform(basisInv, basisInv.Xform(-origin));
}
public Transform Inverse()
{
Basis basisTr = basis.Transposed();
return new Transform(basisTr, basisTr.Xform(-origin));
}
public Transform LookingAt(Vector3 target, Vector3 up)
{
var t = this;
t.SetLookAt(origin, target, up);
return t;
}
public Transform Orthonormalized()
{
return new Transform(basis.Orthonormalized(), origin);
}
public Transform Rotated(Vector3 axis, real_t phi)
{
return new Transform(new Basis(axis, phi), new Vector3()) * this;
}
public Transform Scaled(Vector3 scale)
{
return new Transform(basis.Scaled(scale), origin * scale);
}
public void SetLookAt(Vector3 eye, Vector3 target, Vector3 up)
{
// Make rotation matrix
// Z vector
Vector3 zAxis = eye - target;
zAxis.Normalize();
Vector3 yAxis = up;
Vector3 xAxis = yAxis.Cross(zAxis);
// Recompute Y = Z cross X
yAxis = zAxis.Cross(xAxis);
xAxis.Normalize();
yAxis.Normalize();
basis = Basis.CreateFromAxes(xAxis, yAxis, zAxis);
origin = eye;
}
public Transform Translated(Vector3 ofs)
{
return new Transform(basis, new Vector3
(
origin[0] += basis[0].Dot(ofs),
origin[1] += basis[1].Dot(ofs),
origin[2] += basis[2].Dot(ofs)
));
}
public Vector3 Xform(Vector3 v)
{
return new Vector3
(
basis[0].Dot(v) + origin.x,
basis[1].Dot(v) + origin.y,
basis[2].Dot(v) + origin.z
);
}
public Vector3 XformInv(Vector3 v)
{
Vector3 vInv = v - origin;
return new Vector3
(
basis[0, 0] * vInv.x + basis[1, 0] * vInv.y + basis[2, 0] * vInv.z,
basis[0, 1] * vInv.x + basis[1, 1] * vInv.y + basis[2, 1] * vInv.z,
basis[0, 2] * vInv.x + basis[1, 2] * vInv.y + basis[2, 2] * vInv.z
);
}
// Constants
private static readonly Transform _identity = new Transform(Basis.Identity, Vector3.Zero);
private static readonly Transform _flipX = new Transform(new Basis(new Vector3(-1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1)), Vector3.Zero);
private static readonly Transform _flipY = new Transform(new Basis(new Vector3(1, 0, 0), new Vector3(0, -1, 0), new Vector3(0, 0, 1)), Vector3.Zero);
private static readonly Transform _flipZ = new Transform(new Basis(new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, -1)), Vector3.Zero);
public static Transform Identity { get { return _identity; } }
public static Transform FlipX { get { return _flipX; } }
public static Transform FlipY { get { return _flipY; } }
public static Transform FlipZ { get { return _flipZ; } }
// Constructors
public Transform(Vector3 xAxis, Vector3 yAxis, Vector3 zAxis, Vector3 origin)
{
basis = Basis.CreateFromAxes(xAxis, yAxis, zAxis);
this.origin = origin;
}
public Transform(Quat quat, Vector3 origin)
{
basis = new Basis(quat);
this.origin = origin;
}
public Transform(Basis basis, Vector3 origin)
{
this.basis = basis;
this.origin = origin;
}
public static Transform operator *(Transform left, Transform right)
{
left.origin = left.Xform(right.origin);
left.basis *= right.basis;
return left;
}
public static bool operator ==(Transform left, Transform right)
{
return left.Equals(right);
}
public static bool operator !=(Transform left, Transform right)
{
return !left.Equals(right);
}
public override bool Equals(object obj)
{
if (obj is Transform)
{
return Equals((Transform)obj);
}
return false;
}
public bool Equals(Transform other)
{
return basis.Equals(other.basis) && origin.Equals(other.origin);
}
public override int GetHashCode()
{
return basis.GetHashCode() ^ origin.GetHashCode();
}
public override string ToString()
{
return String.Format("{0} - {1}", new object[]
{
basis.ToString(),
origin.ToString()
});
}
public string ToString(string format)
{
return String.Format("{0} - {1}", new object[]
{
basis.ToString(format),
origin.ToString(format)
});
}
}
}
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