mirror of https://github.com/AxioDL/zeus.git
68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
#include "zeus/CTransform.hpp"
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#include <cmath>
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namespace zeus {
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CTransform CTransformFromEditorEuler(const CVector3f& eulerVec) {
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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 = std::cos(ti);
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cj = std::cos(tj);
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ch = std::cos(th);
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si = std::sin(ti);
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sj = std::sin(tj);
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sh = std::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.basis.m[0][0] = float(cj * ch);
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result.basis.m[1][0] = float(sj * sc - cs);
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result.basis.m[2][0] = float(sj * cc + ss);
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result.basis.m[0][1] = float(cj * sh);
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result.basis.m[1][1] = float(sj * ss + cc);
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result.basis.m[2][1] = float(sj * cs - sc);
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result.basis.m[0][2] = float(-sj);
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result.basis.m[1][2] = float(cj * si);
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result.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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CTransform result;
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CVector3f axisN = axis.normalized();
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float c = std::cos(angle);
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float s = std::sin(angle);
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float t = 1.f - c;
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result.basis.m[0][0] = t * axisN[0] * axisN[0] + c;
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result.basis.m[1][0] = t * axisN[0] * axisN[1] - axisN[2] * s;
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result.basis.m[2][0] = t * axisN[0] * axisN[2] + axisN[1] * s;
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result.basis.m[0][1] = t * axisN[0] * axisN[1] + axisN[2] * s;
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result.basis.m[1][1] = t * axisN[1] * axisN[1] + c;
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result.basis.m[2][1] = t * axisN[1] * axisN[2] - axisN[0] * s;
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result.basis.m[0][2] = t * axisN[0] * axisN[2] - axisN[1] * s;
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result.basis.m[1][2] = t * axisN[1] * axisN[2] + axisN[0] * s;
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result.basis.m[2][2] = t * axisN[2] * axisN[2] + c;
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return result;
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}
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CTransform CTransformFromEditorEulers(const CVector3f& eulerVec, const CVector3f& origin) {
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CTransform ret = CTransformFromEditorEuler(eulerVec);
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ret.origin = origin;
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return ret;
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}
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} // namespace zeus
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