0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
230 lines
8.2 KiB
C++
230 lines
8.2 KiB
C++
/*************************************************************************/
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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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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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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#ifndef TRANSFORM_H
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#define TRANSFORM_H
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#include "core/math/aabb.h"
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#include "core/math/basis.h"
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#include "core/math/plane.h"
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class Transform {
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public:
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Basis 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 Basis &get_basis() const { return basis; }
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void set_basis(const Basis &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 is_equal_approx(const Transform &p_transform) 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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_FORCE_INLINE_ Vector<Vector3> xform(const Vector<Vector3> &p_array) const;
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_FORCE_INLINE_ Vector<Vector3> xform_inv(const Vector<Vector3> &p_array) 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, real_t 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.set(xx, xy, xz, yx, yy, yz, zx, zy, 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(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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Transform(const Basis &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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_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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_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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/* http://dev.theomader.com/transform-bounding-boxes/ */
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Vector3 min = p_aabb.position;
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Vector3 max = p_aabb.position + p_aabb.size;
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Vector3 tmin, tmax;
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for (int i = 0; i < 3; i++) {
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tmin[i] = tmax[i] = origin[i];
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for (int j = 0; j < 3; j++) {
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real_t e = basis[i][j] * min[j];
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real_t f = basis[i][j] * max[j];
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if (e < f) {
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tmin[i] += e;
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tmax[i] += f;
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} else {
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tmin[i] += f;
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tmax[i] += e;
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}
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}
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}
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AABB r_aabb;
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r_aabb.position = tmin;
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r_aabb.size = tmax - tmin;
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return r_aabb;
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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.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z),
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Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z),
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Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z),
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Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z),
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Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z),
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Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z),
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Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z),
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Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z)
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};
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AABB ret;
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ret.position = 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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Vector<Vector3> Transform::xform(const Vector<Vector3> &p_array) const {
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Vector<Vector3> array;
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array.resize(p_array.size());
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const Vector3 *r = p_array.ptr();
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Vector3 *w = array.ptrw();
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for (int i = 0; i < p_array.size(); ++i) {
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w[i] = xform(r[i]);
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}
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return array;
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}
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Vector<Vector3> Transform::xform_inv(const Vector<Vector3> &p_array) const {
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Vector<Vector3> array;
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array.resize(p_array.size());
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const Vector3 *r = p_array.ptr();
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Vector3 *w = array.ptrw();
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for (int i = 0; i < p_array.size(); ++i) {
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w[i] = xform_inv(r[i]);
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}
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return array;
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}
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#endif // TRANSFORM_H
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