virtualx-engine/core/math/transform.h

/*************************************************************************/
/*  transform.h                                                          */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
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#ifndef TRANSFORM_H
#define TRANSFORM_H

#include "matrix3.h"
#include "plane.h"
#include "aabb.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