mirror of https://github.com/AxioDL/zeus.git
127 lines
4.2 KiB
C++
127 lines
4.2 KiB
C++
#ifndef CTRANSFORM_HPP
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#define CTRANSFORM_HPP
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#include "Global.hpp"
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#include "CMatrix3f.hpp"
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#include "CMatrix4f.hpp"
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#include "CVector3f.hpp"
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#include "CQuaternion.hpp"
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namespace Zeus
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{
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class alignas(16) CTransform
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{
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public:
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ZE_DECLARE_ALIGNED_ALLOCATOR();
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CTransform() : m_basis(false) {}
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CTransform(const CMatrix3f& basis, const CVector3f& offset=CVector3f::skZero) :
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m_basis(basis), m_origin(offset) {}
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#if ZE_ATHENA_TYPES
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CTransform(const atVec4f* mtx)
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: m_basis(mtx[0], mtx[1], mtx[2]), m_origin(mtx[0].vec[3], mtx[1].vec[3], mtx[2].vec[3]) {}
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#endif
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static inline CTransform Identity()
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{
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return CTransform(CMatrix3f::skIdentityMatrix3f);
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}
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inline CTransform operator*(const CTransform& rhs) const
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{return CTransform(m_basis * rhs.m_basis, m_origin + (m_basis * rhs.m_origin));}
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inline CTransform inverse() const
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{
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CMatrix3f inv = m_basis.inverted();
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return CTransform(inv, inv * -m_origin);
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}
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inline void translate(const CVector3f& position)
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{
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m_basis = CMatrix3f::skIdentityMatrix3f;
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m_origin = position;
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}
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inline void translate(float x, float y, float z) { translate({x, y, z}); }
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inline void rotate(const CVector3f& euler) { *this = *this * CMatrix3f(CQuaternion(euler)); }
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inline void scaleBy(float factor)
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{ CTransform xfrm(CMatrix3f(CVector3f(factor, factor, factor))); *this = *this * xfrm; }
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inline void scale(const CVector3f& factor)
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{
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m_basis = CMatrix3f(true);
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m_basis[0][0] = factor.x;
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m_basis[1][1] = factor.y;
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m_basis[2][2] = factor.z;
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m_origin.zeroOut();
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}
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inline void scale(float x, float y, float z) { scale({x, y, z}); }
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inline void scale(float factor) { scale({factor, factor, factor}); }
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inline void multiplyIgnoreTranslation(const CTransform& xfrm) { m_basis = m_basis*xfrm.m_basis; }
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inline CTransform getRotation() { CTransform ret = *this; ret.m_origin.zeroOut(); return ret; }
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void setRotation(const CMatrix3f& mat) { m_basis = mat; }
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void setRotation(const CTransform& xfrm) { setRotation(xfrm.m_basis); }
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/**
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* @brief buildMatrix3f Returns the stored matrix
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* buildMatrix3f is here for compliance with Retro's Math API
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* @return The Matrix (Neo, you are the one)
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*/
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inline CMatrix3f buildMatrix3f() { return m_basis; }
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inline CVector3f operator*(const CVector3f& other) const {return m_origin + m_basis * other;}
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inline void toMatrix4f(CMatrix4f& mat) const
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{
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#if __SSE__
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mat.vec[0].mVec128 = m_basis[0].mVec128; mat.m[0][3] = 0.0f;
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mat.vec[1].mVec128 = m_basis[1].mVec128; mat.m[1][3] = 0.0f;
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mat.vec[2].mVec128 = m_basis[2].mVec128; mat.m[2][3] = 0.0f;
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mat.vec[3].mVec128 = m_origin.mVec128; mat.m[3][3] = 1.0f;
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#else
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mat.m[0][0] = m_basis[0][0]; mat.m[0][1] = m_basis[0][1]; mat.m[0][2] = m_basis[0][2]; mat.m[0][3] = 0.0f;
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mat.m[1][0] = m_basis[1][0]; mat.m[1][1] = m_basis[1][1]; mat.m[1][2] = m_basis[1][2]; mat.m[1][3] = 0.0f;
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mat.m[2][0] = m_basis[2][0]; mat.m[2][1] = m_basis[2][1]; mat.m[2][2] = m_basis[2][2]; mat.m[2][3] = 0.0f;
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mat.m[3][0] = m_origin[0]; mat.m[3][1] = m_origin[1]; mat.m[3][2] = m_origin[2]; mat.m[3][3] = 1.0f;
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#endif
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}
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static inline CTransform fromColumns(const CVector3f& m0, const CVector3f& m1, const CVector3f& m2, const CVector3f& m3)
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{
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CTransform ret;
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ret.m_basis[0][0] = m0[0];
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ret.m_basis[0][1] = m1[0];
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ret.m_basis[0][2] = m2[0];
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ret.m_origin[0] = m3[0];
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ret.m_basis[1][0] = m0[1];
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ret.m_basis[1][1] = m1[1];
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ret.m_basis[1][2] = m2[1];
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ret.m_origin[1] = m3[1];
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ret.m_basis[2][0] = m0[2];
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ret.m_basis[2][1] = m1[2];
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ret.m_basis[2][2] = m2[2];
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ret.m_origin[2] = m3[2];
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return ret;
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}
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CMatrix3f m_basis;
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CVector3f m_origin;
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};
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static inline CTransform CTransformFromScaleVector(const CVector3f& scale)
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{
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return CTransform(CMatrix3f(scale));
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}
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CTransform CTransformFromEditorEuler(const CVector3f& eulerVec);
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CTransform CTransformFromEditorEulers(const CVector3f& eulerVec, const CVector3f& origin);
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CTransform CTransformFromAxisAngle(const CVector3f& axis, float angle);
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}
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#endif // CTRANSFORM_HPP
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