123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258 |
- /*************************************************************************/
- /* transform.h */
- /*************************************************************************/
- /* This file is part of: */
- /* GODOT ENGINE */
- /* https://godotengine.org */
- /*************************************************************************/
- /* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
- /* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
- /* */
- /* Permission is hereby granted, free of charge, to any person obtaining */
- /* a copy of this software and associated documentation files (the */
- /* "Software"), to deal in the Software without restriction, including */
- /* without limitation the rights to use, copy, modify, merge, publish, */
- /* distribute, sublicense, and/or sell copies of the Software, and to */
- /* permit persons to whom the Software is furnished to do so, subject to */
- /* the following conditions: */
- /* */
- /* The above copyright notice and this permission notice shall be */
- /* included in all copies or substantial portions of the Software. */
- /* */
- /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
- /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
- /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
- /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
- /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
- /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
- /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
- /*************************************************************************/
- #ifndef TRANSFORM_H
- #define TRANSFORM_H
- #include "aabb.h"
- #include "matrix3.h"
- #include "plane.h"
- /**
- @author Juan Linietsky <reduzio@gmail.com>
- */
- class Transform {
- public:
- Matrix3 basis;
- Vector3 origin;
- void invert();
- Transform inverse() const;
- void affine_invert();
- Transform affine_inverse() const;
- Transform rotated(const Vector3 &p_axis, real_t p_phi) const;
- void rotate(const Vector3 &p_axis, real_t p_phi);
- void rotate_basis(const Vector3 &p_axis, real_t p_phi);
- void set_look_at(const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up);
- Transform looking_at(const Vector3 &p_target, const Vector3 &p_up) const;
- void scale(const Vector3 &p_scale);
- Transform scaled(const Vector3 &p_scale) const;
- void scale_basis(const Vector3 &p_scale);
- void translate(real_t p_tx, real_t p_ty, real_t p_tz);
- void translate(const Vector3 &p_translation);
- Transform translated(const Vector3 &p_translation) const;
- const Matrix3 &get_basis() const { return basis; }
- void set_basis(const Matrix3 &p_basis) { basis = p_basis; }
- const Vector3 &get_origin() const { return origin; }
- void set_origin(const Vector3 &p_origin) { origin = p_origin; }
- void orthonormalize();
- Transform orthonormalized() const;
- bool operator==(const Transform &p_transform) const;
- bool operator!=(const Transform &p_transform) const;
- _FORCE_INLINE_ Vector3 xform(const Vector3 &p_vector) const;
- _FORCE_INLINE_ Vector3 xform_inv(const Vector3 &p_vector) const;
- _FORCE_INLINE_ Plane xform(const Plane &p_plane) const;
- _FORCE_INLINE_ Plane xform_inv(const Plane &p_plane) const;
- _FORCE_INLINE_ AABB xform(const AABB &p_aabb) const;
- _FORCE_INLINE_ AABB xform_inv(const AABB &p_aabb) const;
- void operator*=(const Transform &p_transform);
- Transform operator*(const Transform &p_transform) const;
- Transform interpolate_with(const Transform &p_transform, float p_c) const;
- _FORCE_INLINE_ Transform inverse_xform(const Transform &t) const {
- Vector3 v = t.origin - origin;
- return Transform(basis.transpose_xform(t.basis),
- basis.xform(v));
- }
- 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) {
- basis.elements[0][0] = xx;
- basis.elements[0][1] = xy;
- basis.elements[0][2] = xz;
- basis.elements[1][0] = yx;
- basis.elements[1][1] = yy;
- basis.elements[1][2] = yz;
- basis.elements[2][0] = zx;
- basis.elements[2][1] = zy;
- basis.elements[2][2] = zz;
- origin.x = tx;
- origin.y = ty;
- origin.z = tz;
- }
- operator String() const;
- Transform(const Matrix3 &p_basis, const Vector3 &p_origin = Vector3());
- Transform() {}
- };
- _FORCE_INLINE_ Vector3 Transform::xform(const Vector3 &p_vector) const {
- return Vector3(
- basis[0].dot(p_vector) + origin.x,
- basis[1].dot(p_vector) + origin.y,
- basis[2].dot(p_vector) + origin.z);
- }
- _FORCE_INLINE_ Vector3 Transform::xform_inv(const Vector3 &p_vector) const {
- Vector3 v = p_vector - origin;
- return Vector3(
- (basis.elements[0][0] * v.x) + (basis.elements[1][0] * v.y) + (basis.elements[2][0] * v.z),
- (basis.elements[0][1] * v.x) + (basis.elements[1][1] * v.y) + (basis.elements[2][1] * v.z),
- (basis.elements[0][2] * v.x) + (basis.elements[1][2] * v.y) + (basis.elements[2][2] * v.z));
- }
- _FORCE_INLINE_ Plane Transform::xform(const Plane &p_plane) const {
- Vector3 point = p_plane.normal * p_plane.d;
- Vector3 point_dir = point + p_plane.normal;
- point = xform(point);
- point_dir = xform(point_dir);
- Vector3 normal = point_dir - point;
- normal.normalize();
- real_t d = normal.dot(point);
- return Plane(normal, d);
- }
- _FORCE_INLINE_ Plane Transform::xform_inv(const Plane &p_plane) const {
- Vector3 point = p_plane.normal * p_plane.d;
- Vector3 point_dir = point + p_plane.normal;
- xform_inv(point);
- xform_inv(point_dir);
- Vector3 normal = point_dir - point;
- normal.normalize();
- real_t d = normal.dot(point);
- return Plane(normal, d);
- }
- _FORCE_INLINE_ AABB Transform::xform(const AABB &p_aabb) const {
- /* define vertices */
- #if 1
- Vector3 x = basis.get_axis(0) * p_aabb.size.x;
- Vector3 y = basis.get_axis(1) * p_aabb.size.y;
- Vector3 z = basis.get_axis(2) * p_aabb.size.z;
- Vector3 pos = xform(p_aabb.pos);
- //could be even further optimized
- AABB new_aabb;
- new_aabb.pos = pos;
- new_aabb.expand_to(pos + x);
- new_aabb.expand_to(pos + y);
- new_aabb.expand_to(pos + z);
- new_aabb.expand_to(pos + x + y);
- new_aabb.expand_to(pos + x + z);
- new_aabb.expand_to(pos + y + z);
- new_aabb.expand_to(pos + x + y + z);
- return new_aabb;
- #else
- Vector3 vertices[8] = {
- 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),
- Vector3(p_aabb.pos.x + p_aabb.size.x, p_aabb.pos.y + p_aabb.size.y, p_aabb.pos.z),
- Vector3(p_aabb.pos.x + p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z + p_aabb.size.z),
- Vector3(p_aabb.pos.x + p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z),
- Vector3(p_aabb.pos.x, p_aabb.pos.y + p_aabb.size.y, p_aabb.pos.z + p_aabb.size.z),
- Vector3(p_aabb.pos.x, p_aabb.pos.y + p_aabb.size.y, p_aabb.pos.z),
- Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z + p_aabb.size.z),
- Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z)
- };
- AABB ret;
- ret.pos = xform(vertices[0]);
- for (int i = 1; i < 8; i++) {
- ret.expand_to(xform(vertices[i]));
- }
- return ret;
- #endif
- }
- _FORCE_INLINE_ AABB Transform::xform_inv(const AABB &p_aabb) const {
- /* define vertices */
- Vector3 vertices[8] = {
- 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),
- Vector3(p_aabb.pos.x + p_aabb.size.x, p_aabb.pos.y + p_aabb.size.y, p_aabb.pos.z),
- Vector3(p_aabb.pos.x + p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z + p_aabb.size.z),
- Vector3(p_aabb.pos.x + p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z),
- Vector3(p_aabb.pos.x, p_aabb.pos.y + p_aabb.size.y, p_aabb.pos.z + p_aabb.size.z),
- Vector3(p_aabb.pos.x, p_aabb.pos.y + p_aabb.size.y, p_aabb.pos.z),
- Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z + p_aabb.size.z),
- Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z)
- };
- AABB ret;
- ret.pos = xform_inv(vertices[0]);
- for (int i = 1; i < 8; i++) {
- ret.expand_to(xform_inv(vertices[i]));
- }
- return ret;
- }
- #ifdef OPTIMIZED_TRANSFORM_IMPL_OVERRIDE
- #else
- struct OptimizedTransform {
- Transform transform;
- _FORCE_INLINE_ void invert() { transform.invert(); }
- _FORCE_INLINE_ void affine_invert() { transform.affine_invert(); }
- _FORCE_INLINE_ Vector3 xform(const Vector3 &p_vec) const { return transform.xform(p_vec); };
- _FORCE_INLINE_ Vector3 xform_inv(const Vector3 &p_vec) const { return transform.xform_inv(p_vec); };
- _FORCE_INLINE_ OptimizedTransform operator*(const OptimizedTransform &p_ot) const { return OptimizedTransform(transform * p_ot.transform); }
- _FORCE_INLINE_ Transform get_transform() const { return transform; }
- _FORCE_INLINE_ void set_transform(const Transform &p_transform) { transform = p_transform; }
- OptimizedTransform(const Transform &p_transform) {
- transform = p_transform;
- }
- };
- #endif
- #endif
|