mirror of https://github.com/AxioDL/zeus.git
60 lines
1.8 KiB
C++
60 lines
1.8 KiB
C++
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#include "CTransform.hpp"
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CTransform CTransformFromEditorEuler(const CVector3f& eulerVec)
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{
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CTransform result;
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double ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
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ti = eulerVec[0];
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tj = eulerVec[1];
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th = eulerVec[2];
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ci = cos(ti);
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cj = cos(tj);
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ch = cos(th);
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si = sin(ti);
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sj = sin(tj);
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sh = sin(th);
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cc = ci * ch;
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cs = ci * sh;
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sc = si * ch;
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ss = si * sh;
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result.m_basis.m[0][0] = (float)(cj * ch);
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result.m_basis.m[1][0] = (float)(sj * sc - cs);
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result.m_basis.m[2][0] = (float)(sj * cc + ss);
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result.m_basis.m[0][1] = (float)(cj * sh);
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result.m_basis.m[1][1] = (float)(sj * ss + cc);
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result.m_basis.m[2][1] = (float)(sj * cs - sc);
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result.m_basis.m[0][2] = (float)(-sj);
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result.m_basis.m[1][2] = (float)(cj * si);
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result.m_basis.m[2][2] = (float)(cj * ci);
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return result;
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}
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CTransform CTransformFromAxisAngle(const CVector3f& axis, float angle)
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{
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CTransform result;
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CVector3f axisN = axis.normalized();
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float c = cosf(angle);
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float s = sinf(angle);
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float t = 1 - c;
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result.m_basis.m[0][0] = t * axisN.v[0] * axisN.v[0] + c;
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result.m_basis.m[1][0] = t * axisN.v[0] * axisN.v[1] - axisN.v[2] * s;
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result.m_basis.m[2][0] = t * axisN.v[0] * axisN.v[2] + axisN.v[1] * s;
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result.m_basis.m[0][1] = t * axisN.v[0] * axisN.v[1] + axisN.v[2] * s;
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result.m_basis.m[1][1] = t * axisN.v[1] * axisN.v[1] + c;
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result.m_basis.m[2][1] = t * axisN.v[1] * axisN.v[2] - axisN.v[0] * s;
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result.m_basis.m[0][2] = t * axisN.v[0] * axisN.v[2] - axisN.v[1] * s;
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result.m_basis.m[1][2] = t * axisN.v[1] * axisN.v[2] + axisN.v[0] * s;
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result.m_basis.m[2][2] = t * axisN.v[2] * axisN.v[2] + c;
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return result;
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}
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