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269 lines
8.8 KiB
C
269 lines
8.8 KiB
C
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/*************************************************************************/
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/* transform.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef TRANSFORM_H
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#define TRANSFORM_H
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#include "matrix3.h"
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#include "plane.h"
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#include "aabb.h"
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/**
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@author Juan Linietsky <reduzio@gmail.com>
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*/
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class Transform {
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public:
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Matrix3 basis;
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Vector3 origin;
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void invert();
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Transform inverse() const;
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void affine_invert();
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Transform affine_inverse() const;
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Transform rotated(const Vector3& p_axis,real_t p_phi) const;
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void rotate(const Vector3& p_axis,real_t p_phi);
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void rotate_basis(const Vector3& p_axis,real_t p_phi);
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void set_look_at( const Vector3& p_eye, const Vector3& p_target, const Vector3& p_up );
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Transform looking_at( const Vector3& p_target, const Vector3& p_up ) const;
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void scale(const Vector3& p_scale);
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Transform scaled(const Vector3& p_scale) const;
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void scale_basis(const Vector3& p_scale);
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void translate( real_t p_tx, real_t p_ty, real_t p_tz );
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void translate( const Vector3& p_translation );
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Transform translated( const Vector3& p_translation ) const;
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const Matrix3& get_basis() const { return basis; }
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void set_basis(const Matrix3& p_basis) { basis=p_basis; }
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const Vector3& get_origin() const { return origin; }
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void set_origin(const Vector3& p_origin) { origin=p_origin; }
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void orthonormalize();
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Transform orthonormalized() const;
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bool operator==(const Transform& p_transform) const;
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bool operator!=(const Transform& p_transform) const;
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_FORCE_INLINE_ Vector3 xform(const Vector3& p_vector) const;
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_FORCE_INLINE_ Vector3 xform_inv(const Vector3& p_vector) const;
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_FORCE_INLINE_ Plane xform(const Plane& p_plane) const;
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_FORCE_INLINE_ Plane xform_inv(const Plane& p_plane) const;
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_FORCE_INLINE_ AABB xform(const AABB& p_aabb) const;
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_FORCE_INLINE_ AABB xform_inv(const AABB& p_aabb) const;
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void operator*=(const Transform& p_transform);
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Transform operator*(const Transform& p_transform) const;
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Transform interpolate_with(const Transform& p_transform, float p_c) const;
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_FORCE_INLINE_ Transform inverse_xform(const Transform& t) const {
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Vector3 v = t.origin - origin;
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return Transform(basis.transpose_xform(t.basis),
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basis.xform(v));
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}
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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) {
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basis.elements[0][0]=xx;
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basis.elements[0][1]=xy;
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basis.elements[0][2]=xz;
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basis.elements[1][0]=yx;
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basis.elements[1][1]=yy;
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basis.elements[1][2]=yz;
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basis.elements[2][0]=zx;
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basis.elements[2][1]=zy;
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basis.elements[2][2]=zz;
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origin.x=tx;
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origin.y=ty;
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origin.z=tz;
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}
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operator String() const;
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Transform(const Matrix3& p_basis, const Vector3& p_origin=Vector3());
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Transform() {}
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};
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_FORCE_INLINE_ Vector3 Transform::xform(const Vector3& p_vector) const {
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return Vector3(
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basis[0].dot(p_vector)+origin.x,
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basis[1].dot(p_vector)+origin.y,
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basis[2].dot(p_vector)+origin.z
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);
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}
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_FORCE_INLINE_ Vector3 Transform::xform_inv(const Vector3& p_vector) const {
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Vector3 v = p_vector - origin;
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return Vector3(
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(basis.elements[0][0]*v.x ) + ( basis.elements[1][0]*v.y ) + ( basis.elements[2][0]*v.z ),
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(basis.elements[0][1]*v.x ) + ( basis.elements[1][1]*v.y ) + ( basis.elements[2][1]*v.z ),
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(basis.elements[0][2]*v.x ) + ( basis.elements[1][2]*v.y ) + ( basis.elements[2][2]*v.z )
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);
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}
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_FORCE_INLINE_ Plane Transform::xform(const Plane& p_plane) const {
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Vector3 point=p_plane.normal*p_plane.d;
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Vector3 point_dir=point+p_plane.normal;
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point=xform(point);
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point_dir=xform(point_dir);
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Vector3 normal=point_dir-point;
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normal.normalize();
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real_t d=normal.dot(point);
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return Plane(normal,d);
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}
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_FORCE_INLINE_ Plane Transform::xform_inv(const Plane& p_plane) const {
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Vector3 point=p_plane.normal*p_plane.d;
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Vector3 point_dir=point+p_plane.normal;
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xform_inv(point);
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xform_inv(point_dir);
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Vector3 normal=point_dir-point;
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normal.normalize();
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real_t d=normal.dot(point);
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return Plane(normal,d);
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}
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_FORCE_INLINE_ AABB Transform::xform(const AABB& p_aabb) const {
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/* define vertices */
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#if 1
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Vector3 x=basis.get_axis(0)*p_aabb.size.x;
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Vector3 y=basis.get_axis(1)*p_aabb.size.y;
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Vector3 z=basis.get_axis(2)*p_aabb.size.z;
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Vector3 pos = xform( p_aabb.pos );
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//could be even further optimized
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AABB new_aabb;
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new_aabb.pos=pos;
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new_aabb.expand_to( pos+x );
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new_aabb.expand_to( pos+y );
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new_aabb.expand_to( pos+z );
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new_aabb.expand_to( pos+x+y );
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new_aabb.expand_to( pos+x+z );
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new_aabb.expand_to( pos+y+z );
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new_aabb.expand_to( pos+x+y+z );
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return new_aabb;
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#else
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Vector3 vertices[8]={
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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),
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Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z),
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Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z),
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Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z),
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Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z+p_aabb.size.z),
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Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z),
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Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z),
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Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z)
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};
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AABB ret;
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ret.pos=xform(vertices[0]);
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for (int i=1;i<8;i++) {
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ret.expand_to( xform(vertices[i]) );
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}
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return ret;
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#endif
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}
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_FORCE_INLINE_ AABB Transform::xform_inv(const AABB& p_aabb) const {
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/* define vertices */
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Vector3 vertices[8]={
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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),
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Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z),
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Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z),
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Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z),
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Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z+p_aabb.size.z),
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Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z),
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Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z),
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Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z)
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};
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AABB ret;
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ret.pos=xform_inv(vertices[0]);
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for (int i=1;i<8;i++) {
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ret.expand_to( xform_inv(vertices[i]) );
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}
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return ret;
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}
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#ifdef OPTIMIZED_TRANSFORM_IMPL_OVERRIDE
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#else
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struct OptimizedTransform {
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Transform transform;
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_FORCE_INLINE_ void invert() {transform.invert(); }
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_FORCE_INLINE_ void affine_invert() {transform.affine_invert(); }
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_FORCE_INLINE_ Vector3 xform(const Vector3& p_vec) const { return transform.xform(p_vec); };
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_FORCE_INLINE_ Vector3 xform_inv(const Vector3& p_vec) const { return transform.xform_inv(p_vec); };
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_FORCE_INLINE_ OptimizedTransform operator*(const OptimizedTransform& p_ot ) const { return OptimizedTransform( transform * p_ot.transform ) ; }
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_FORCE_INLINE_ Transform get_transform() const { return transform; }
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_FORCE_INLINE_ void set_transform(const Transform& p_transform) { transform=p_transform; }
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OptimizedTransform(const Transform& p_transform) {
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transform=p_transform;
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}
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};
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#endif
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#endif
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