mirror of https://github.com/AxioDL/zeus.git
245 lines
7.1 KiB
C++
245 lines
7.1 KiB
C++
#pragma once
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#include "Global.hpp"
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#include "zeus/CMatrix3f.hpp"
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#include "zeus/CMatrix4f.hpp"
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#include "zeus/CVector3f.hpp"
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#include "zeus/CUnitVector.hpp"
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#include <cstdint>
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#include <cstdio>
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namespace zeus {
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class CTransform {
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public:
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CTransform() : basis(false) {}
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CTransform(const CMatrix3f& basis, const CVector3f& offset = CVector3f::skZero) : basis(basis), origin(offset) {}
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#if ZE_ATHENA_TYPES
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CTransform(const atVec4f* mtx)
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: basis(mtx[0], mtx[1], mtx[2]), origin(mtx[0].simd[3], mtx[1].simd[3], mtx[2].simd[3]) {}
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void read34RowMajor(athena::io::IStreamReader& r) {
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atVec4f r0 = r.readVec4fBig();
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atVec4f r1 = r.readVec4fBig();
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atVec4f r2 = r.readVec4fBig();
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basis = CMatrix3f(r0, r1, r2);
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basis.transpose();
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origin = CVector3f(r0.simd[3], r1.simd[3], r2.simd[3]);
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}
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#endif
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/* Column constructor */
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CTransform(const CVector3f& c0, const CVector3f& c1, const CVector3f& c2, const CVector3f& c3)
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: basis(c0, c1, c2), origin(c3) {}
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static CTransform Identity() { return CTransform(CMatrix3f::skIdentityMatrix3f); }
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bool operator==(const CTransform& other) const { return origin == other.origin && basis == other.basis; }
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CTransform operator*(const CTransform& rhs) const {
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return CTransform(basis * rhs.basis, origin + (basis * rhs.origin));
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}
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CTransform inverse() const {
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CMatrix3f inv = basis.inverted();
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return CTransform(inv, inv * -origin);
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}
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static CTransform Translate(const CVector3f& position) { return {CMatrix3f::skIdentityMatrix3f, position}; }
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static CTransform Translate(float x, float y, float z) { return Translate({x, y, z}); }
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CTransform operator+(const CVector3f& other) { return CTransform(basis, origin + other); }
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CTransform& operator+=(const CVector3f& other) {
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origin += other;
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return *this;
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}
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CTransform operator-(const CVector3f& other) { return CTransform(basis, origin - other); }
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CTransform& operator-=(const CVector3f& other) {
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origin -= other;
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return *this;
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}
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zeus::CVector3f rotate(const CVector3f& vec) const { return basis * vec; }
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static CTransform RotateX(float theta) {
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float sinT = std::sin(theta);
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float cosT = std::cos(theta);
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return CTransform(CMatrix3f(simd<float>{1.f, 0.f, 0.f, 0.f}, simd<float>{0.f, cosT, sinT, 0.f},
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simd<float>{0.f, -sinT, cosT, 0.f}));
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}
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static CTransform RotateY(float theta) {
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float sinT = std::sin(theta);
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float cosT = std::cos(theta);
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return CTransform(CMatrix3f(simd<float>{cosT, 0.f, -sinT, 0.f}, simd<float>{0.f, 1.f, 0.f, 0.f},
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simd<float>{sinT, 0.f, cosT, 0.f}));
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}
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static CTransform RotateZ(float theta) {
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float sinT = std::sin(theta);
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float cosT = std::cos(theta);
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return CTransform(CMatrix3f(simd<float>{cosT, sinT, 0.f, 0.f}, simd<float>{-sinT, cosT, 0.f, 0.f},
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simd<float>{0.f, 0.f, 1.f, 0.f}));
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}
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void rotateLocalX(float theta) {
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float sinT = std::sin(theta);
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float cosT = std::cos(theta);
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zeus::CVector3f b2 = basis[2] * sinT;
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zeus::CVector3f b1 = basis[1] * sinT;
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zeus::CVector3f cosV(cosT);
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basis[1] *= cosV;
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basis[2] *= cosV;
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basis[1] += b2;
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basis[2] -= b1;
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}
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void rotateLocalY(float theta) {
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float sinT = std::sin(theta);
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float cosT = std::cos(theta);
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zeus::CVector3f b0 = basis[0] * sinT;
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zeus::CVector3f b2 = basis[2] * sinT;
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zeus::CVector3f cosV(cosT);
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basis[0] *= cosV;
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basis[2] *= cosV;
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basis[2] += b0;
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basis[0] -= b2;
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}
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void rotateLocalZ(float theta) {
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float sinT = std::sin(theta);
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float cosT = std::cos(theta);
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zeus::CVector3f b0 = basis[0] * sinT;
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zeus::CVector3f b1 = basis[1] * sinT;
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zeus::CVector3f cosV(cosT);
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basis[0] *= cosV;
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basis[1] *= cosV;
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basis[0] += b1;
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basis[1] -= b0;
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}
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CVector3f transposeRotate(const CVector3f& in) const {
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return CVector3f(basis[0].dot(in), basis[1].dot(in), basis[2].dot(in));
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}
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void scaleBy(float factor) {
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CTransform xfrm(CMatrix3f(CVector3f(factor, factor, factor)));
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*this = *this * xfrm;
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}
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static CTransform Scale(const CVector3f& factor) {
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return CTransform(CMatrix3f(simd<float>{factor.x(), 0.f, 0.f, 0.f}, simd<float>{0.f, factor.y(), 0.f, 0.f},
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simd<float>{0.f, 0.f, factor.z(), 0.f}));
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}
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static CTransform Scale(float x, float y, float z) {
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return CTransform(
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CMatrix3f(simd<float>{x, 0.f, 0.f, 0.f}, simd<float>{0.f, y, 0.f, 0.f}, simd<float>{0.f, 0.f, z, 0.f}));
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}
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static CTransform Scale(float factor) {
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return CTransform(CMatrix3f(simd<float>{factor, 0.f, 0.f, 0.f}, simd<float>{0.f, factor, 0.f, 0.f},
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simd<float>{0.f, 0.f, factor, 0.f}));
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}
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CTransform multiplyIgnoreTranslation(const CTransform& xfrm) const {
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CTransform ret;
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ret.basis = basis * xfrm.basis;
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return ret;
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}
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CTransform getRotation() const {
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CTransform ret = *this;
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ret.origin.zeroOut();
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return ret;
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}
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void setRotation(const CMatrix3f& mat) { basis = mat; }
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void setRotation(const CTransform& xfrm) { setRotation(xfrm.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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const CMatrix3f& buildMatrix3f() const { return basis; }
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CVector3f operator*(const CVector3f& other) const { return origin + basis * other; }
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CMatrix4f toMatrix4f() const {
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CMatrix4f ret(basis[0], basis[1], basis[2], origin);
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ret[0][3] = 0.0f;
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ret[1][3] = 0.0f;
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ret[2][3] = 0.0f;
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ret[3][3] = 1.0f;
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return ret;
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}
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CVector3f upVector() const { return basis.m[2]; }
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CVector3f frontVector() const { return basis.m[1]; }
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CVector3f rightVector() const { return basis.m[0]; }
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void orthonormalize() {
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basis[0].normalize();
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basis[2] = basis[0].cross(basis[1]);
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basis[2].normalize();
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basis[1] = basis[2].cross(basis[0]);
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}
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void printMatrix() const {
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printf(
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"%f %f %f %f\n"
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"%f %f %f %f\n"
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"%f %f %f %f\n"
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"%f %f %f %f\n",
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basis[0][0], basis[1][0], basis[2][0], origin[0], basis[0][1], basis[1][1], basis[2][1], origin[1], basis[0][2],
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basis[1][2], basis[2][2], origin[2], 0.f, 0.f, 0.f, 1.f);
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}
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static zeus::CTransform MakeRotationsBasedOnY(const CUnitVector3f& uVec) {
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uint32_t i;
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if (uVec.y() < uVec.x() || uVec.z() < uVec.y() || uVec.z() < uVec.x())
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i = 2;
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else
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i = 1;
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CVector3f v = CVector3f::skZero;
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v[i] = 1.f;
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CUnitVector3f newUVec(uVec.cross(v));
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return {newUVec, uVec, uVec.cross(newUVec), CVector3f::skZero};
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}
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CMatrix3f basis;
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CVector3f origin;
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};
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static inline CTransform CTransformFromScaleVector(const CVector3f& scale) { return CTransform(CMatrix3f(scale)); }
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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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CTransform lookAt(const CVector3f& pos, const CVector3f& lookPos, const CVector3f& up = CVector3f::skUp);
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} // namespace zeus
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