1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
|
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 InterpolateWith(Transform transform, real_t c)
{
/* not sure if very "efficient" but good enough? */
Vector3 sourceScale = basis.Scale;
Quat sourceRotation = basis.RotationQuat();
Vector3 sourceLocation = origin;
Vector3 destinationScale = transform.basis.Scale;
Quat destinationRotation = transform.basis.RotationQuat();
Vector3 destinationLocation = transform.origin;
var interpolated = new Transform();
interpolated.basis.SetQuatScale(sourceRotation.Slerp(destinationRotation, c).Normalized(), sourceScale.LinearInterpolate(destinationScale, c));
interpolated.origin = sourceLocation.LinearInterpolate(destinationLocation, c);
return interpolated;
}
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 column2 = eye - target;
column2.Normalize();
Vector3 column1 = up;
Vector3 column0 = column1.Cross(column2);
// Recompute Y = Z cross X
column1 = column2.Cross(column0);
column0.Normalize();
column1.Normalize();
basis = new Basis(column0, column1, column2);
origin = eye;
}
public Transform Translated(Vector3 ofs)
{
return new Transform(basis, new Vector3
(
origin[0] += basis.Row0.Dot(ofs),
origin[1] += basis.Row1.Dot(ofs),
origin[2] += basis.Row2.Dot(ofs)
));
}
public Vector3 Xform(Vector3 v)
{
return new Vector3
(
basis.Row0.Dot(v) + origin.x,
basis.Row1.Dot(v) + origin.y,
basis.Row2.Dot(v) + origin.z
);
}
public Vector3 XformInv(Vector3 v)
{
Vector3 vInv = v - origin;
return new Vector3
(
basis.Row0[0] * vInv.x + basis.Row1[0] * vInv.y + basis.Row2[0] * vInv.z,
basis.Row0[1] * vInv.x + basis.Row1[1] * vInv.y + basis.Row2[1] * vInv.z,
basis.Row0[2] * vInv.x + basis.Row1[2] * vInv.y + basis.Row2[2] * vInv.z
);
}
// Constants
private static readonly Transform _identity = new Transform(Basis.Identity, Vector3.Zero);
private static readonly Transform _flipX = new Transform(new Basis(-1, 0, 0, 0, 1, 0, 0, 0, 1), Vector3.Zero);
private static readonly Transform _flipY = new Transform(new Basis(1, 0, 0, 0, -1, 0, 0, 0, 1), Vector3.Zero);
private static readonly Transform _flipZ = new Transform(new Basis(1, 0, 0, 0, 1, 0, 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 column0, Vector3 column1, Vector3 column2, Vector3 origin)
{
basis = new Basis(column0, column1, column2);
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)
});
}
}
}
|