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using System;
using System.Runtime.InteropServices;
namespace Godot
{
[StructLayout(LayoutKind.Sequential)]
public struct Transform : IEquatable<Transform>
{
public Basis basis;
public Vector3 origin;
public Transform affine_inverse()
{
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 looking_at(Vector3 target, Vector3 up)
{
Transform t = this;
t.set_look_at(origin, target, up);
return t;
}
public Transform orthonormalized()
{
return new Transform(basis.orthonormalized(), origin);
}
public Transform rotated(Vector3 axis, float phi)
{
return this * new Transform(new Basis(axis, phi), new Vector3());
}
public Transform scaled(Vector3 scale)
{
return new Transform(basis.scaled(scale), origin * scale);
}
public void set_look_at(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.create_from_axes(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 xform_inv(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)
);
}
public Transform(Vector3 xAxis, Vector3 yAxis, Vector3 zAxis, Vector3 origin)
{
this.basis = Basis.create_from_axes(xAxis, yAxis, zAxis);
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[]
{
this.basis.ToString(),
this.origin.ToString()
});
}
public string ToString(string format)
{
return String.Format("{0} - {1}", new object[]
{
this.basis.ToString(format),
this.origin.ToString(format)
});
}
}
}
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