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218 lines
7.1 KiB
C++
218 lines
7.1 KiB
C++
/*************************************************************************/
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/* transform_3d.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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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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#include "transform_3d.h"
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#include "core/math/math_funcs.h"
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#include "core/string/print_string.h"
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void Transform3D::affine_invert() {
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basis.invert();
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origin = basis.xform(-origin);
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}
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Transform3D Transform3D::affine_inverse() const {
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Transform3D ret = *this;
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ret.affine_invert();
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return ret;
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}
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void Transform3D::invert() {
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basis.transpose();
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origin = basis.xform(-origin);
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}
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Transform3D Transform3D::inverse() const {
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// FIXME: this function assumes the basis is a rotation matrix, with no scaling.
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// Transform3D::affine_inverse can handle matrices with scaling, so GDScript should eventually use that.
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Transform3D ret = *this;
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ret.invert();
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return ret;
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}
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void Transform3D::rotate(const Vector3 &p_axis, real_t p_angle) {
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*this = rotated(p_axis, p_angle);
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}
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Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_angle) const {
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return Transform3D(Basis(p_axis, p_angle), Vector3()) * (*this);
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}
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void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_angle) {
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basis.rotate(p_axis, p_angle);
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}
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Transform3D Transform3D::looking_at(const Vector3 &p_target, const Vector3 &p_up) const {
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Transform3D t = *this;
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t.basis = Basis::looking_at(p_target - origin, p_up);
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return t;
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}
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void Transform3D::set_look_at(const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up) {
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basis = Basis::looking_at(p_target - p_eye, p_up);
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origin = p_eye;
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}
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Transform3D Transform3D::sphere_interpolate_with(const Transform3D &p_transform, real_t p_c) const {
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/* not sure if very "efficient" but good enough? */
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Transform3D interp;
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Vector3 src_scale = basis.get_scale();
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Quaternion src_rot = basis.get_rotation_quaternion();
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Vector3 src_loc = origin;
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Vector3 dst_scale = p_transform.basis.get_scale();
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Quaternion dst_rot = p_transform.basis.get_rotation_quaternion();
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Vector3 dst_loc = p_transform.origin;
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interp.basis.set_quaternion_scale(src_rot.slerp(dst_rot, p_c).normalized(), src_scale.lerp(dst_scale, p_c));
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interp.origin = src_loc.lerp(dst_loc, p_c);
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return interp;
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}
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Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t p_c) const {
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Transform3D interp;
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interp.basis = basis.lerp(p_transform.basis, p_c);
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interp.origin = origin.lerp(p_transform.origin, p_c);
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return interp;
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}
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void Transform3D::scale(const Vector3 &p_scale) {
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basis.scale(p_scale);
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origin *= p_scale;
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}
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Transform3D Transform3D::scaled(const Vector3 &p_scale) const {
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Transform3D t = *this;
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t.scale(p_scale);
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return t;
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}
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void Transform3D::scale_basis(const Vector3 &p_scale) {
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basis.scale(p_scale);
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}
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void Transform3D::translate(real_t p_tx, real_t p_ty, real_t p_tz) {
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translate(Vector3(p_tx, p_ty, p_tz));
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}
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void Transform3D::translate(const Vector3 &p_translation) {
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for (int i = 0; i < 3; i++) {
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origin[i] += basis[i].dot(p_translation);
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}
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}
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Transform3D Transform3D::translated(const Vector3 &p_translation) const {
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Transform3D t = *this;
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t.translate(p_translation);
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return t;
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}
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void Transform3D::orthonormalize() {
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basis.orthonormalize();
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}
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Transform3D Transform3D::orthonormalized() const {
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Transform3D _copy = *this;
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_copy.orthonormalize();
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return _copy;
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}
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void Transform3D::orthogonalize() {
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basis.orthogonalize();
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}
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Transform3D Transform3D::orthogonalized() const {
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Transform3D _copy = *this;
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_copy.orthogonalize();
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return _copy;
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}
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bool Transform3D::is_equal_approx(const Transform3D &p_transform) const {
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return basis.is_equal_approx(p_transform.basis) && origin.is_equal_approx(p_transform.origin);
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}
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bool Transform3D::operator==(const Transform3D &p_transform) const {
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return (basis == p_transform.basis && origin == p_transform.origin);
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}
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bool Transform3D::operator!=(const Transform3D &p_transform) const {
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return (basis != p_transform.basis || origin != p_transform.origin);
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}
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void Transform3D::operator*=(const Transform3D &p_transform) {
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origin = xform(p_transform.origin);
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basis *= p_transform.basis;
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}
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Transform3D Transform3D::operator*(const Transform3D &p_transform) const {
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Transform3D t = *this;
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t *= p_transform;
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return t;
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}
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void Transform3D::operator*=(const real_t p_val) {
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origin *= p_val;
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basis *= p_val;
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}
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Transform3D Transform3D::operator*(const real_t p_val) const {
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Transform3D ret(*this);
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ret *= p_val;
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return ret;
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}
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Transform3D::operator String() const {
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return "[X: " + basis.get_column(0).operator String() +
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", Y: " + basis.get_column(1).operator String() +
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", Z: " + basis.get_column(2).operator String() +
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", O: " + origin.operator String() + "]";
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}
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Transform3D::Transform3D(const Basis &p_basis, const Vector3 &p_origin) :
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basis(p_basis),
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origin(p_origin) {
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}
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Transform3D::Transform3D(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z, const Vector3 &p_origin) :
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origin(p_origin) {
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basis.set_column(0, p_x);
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basis.set_column(1, p_y);
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basis.set_column(2, p_z);
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}
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Transform3D::Transform3D(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 ox, real_t oy, real_t oz) {
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basis = Basis(xx, xy, xz, yx, yy, yz, zx, zy, zz);
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origin = Vector3(ox, oy, oz);
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}
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