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Add CTransform::quickInverse, toCStyleMatrix

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This commit is contained in:
Luke Street 2025-04-14 09:13:57 -06:00
parent 3f0f1bf338
commit 655ca9e036
1 changed files with 28 additions and 2 deletions
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30
include/zeus/CTransform.hpp
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@ -14,8 +14,7 @@ class CTransform {
public:
constexpr CTransform() : basis(false) {}
constexpr CTransform(const CMatrix3f& basis, const CVector3f& offset = {})
: basis(basis), origin(offset) {}
constexpr CTransform(const CMatrix3f& basis, const CVector3f& offset = {}) : basis(basis), origin(offset) {}
/* Column constructor */
constexpr CTransform(const CVector3f& c0, const CVector3f& c1, const CVector3f& c2, const CVector3f& c3)
@ -36,6 +35,15 @@ public:
return CTransform(inv, inv * -origin);
}
[[nodiscard]] CTransform quickInverse() const {
return CTransform{basis.transposed(),
CVector3f{
basis[0][0] * -origin.x() - basis[0][1] * origin.y() - basis[0][2] * origin.z(),
basis[1][0] * -origin.x() - basis[1][1] * origin.y() - basis[1][2] * origin.z(),
basis[2][0] * -origin.x() - basis[2][1] * origin.y() - basis[2][2] * origin.z(),
}};
}
[[nodiscard]] static CTransform Translate(const CVector3f& position) { return {CMatrix3f(), position}; }
[[nodiscard]] static CTransform Translate(float x, float y, float z) { return Translate({x, y, z}); }
@ -178,6 +186,24 @@ public:
return ret;
}
/**
* Outputs the matrix to a C-style array (column-major, GX style)
*/
void toCStyleMatrix(float mtx[3][4]) const {
mtx[0][0] = basis[0][0];
mtx[0][1] = basis[1][0];
mtx[0][2] = basis[2][0];
mtx[0][3] = origin.x();
mtx[1][0] = basis[0][1];
mtx[1][1] = basis[1][1];
mtx[1][2] = basis[2][1];
mtx[1][3] = origin.y();
mtx[2][0] = basis[0][2];
mtx[2][1] = basis[1][2];
mtx[2][2] = basis[2][2];
mtx[2][3] = origin.z();
}
[[nodiscard]] CVector3f upVector() const { return basis.m[2]; }
[[nodiscard]] CVector3f frontVector() const { return basis.m[1]; }