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+/*************************************************************************/
+/* transform.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+#ifndef TRANSFORM_H
+#define TRANSFORM_H
+
+#include "matrix3.h"
+#include "plane.h"
+#include "aabb.h"
+/**
+ @author Juan Linietsky <reduzio@gmail.com>
+*/
+class Transform {
+public:
+
+ Matrix3 basis;
+ Vector3 origin;
+
+ void invert();
+ Transform inverse() const;
+
+ void affine_invert();
+ Transform affine_inverse() const;
+
+ Transform rotated(const Vector3& p_axis,real_t p_phi) const;
+
+ void rotate(const Vector3& p_axis,real_t p_phi);
+ void rotate_basis(const Vector3& p_axis,real_t p_phi);
+
+ void set_look_at( const Vector3& p_eye, const Vector3& p_target, const Vector3& p_up );
+ Transform looking_at( const Vector3& p_target, const Vector3& p_up ) const;
+
+ void scale(const Vector3& p_scale);
+ Transform scaled(const Vector3& p_scale) const;
+ void scale_basis(const Vector3& p_scale);
+ void translate( real_t p_tx, real_t p_ty, real_t p_tz );
+ void translate( const Vector3& p_translation );
+ Transform translated( const Vector3& p_translation ) const;
+
+ const Matrix3& get_basis() const { return basis; }
+ void set_basis(const Matrix3& p_basis) { basis=p_basis; }
+
+ const Vector3& get_origin() const { return origin; }
+ void set_origin(const Vector3& p_origin) { origin=p_origin; }
+
+ void orthonormalize();
+ Transform orthonormalized() const;
+
+ bool operator==(const Transform& p_transform) const;
+ bool operator!=(const Transform& p_transform) const;
+
+ _FORCE_INLINE_ Vector3 xform(const Vector3& p_vector) const;
+ _FORCE_INLINE_ Vector3 xform_inv(const Vector3& p_vector) const;
+
+ _FORCE_INLINE_ Plane xform(const Plane& p_plane) const;
+ _FORCE_INLINE_ Plane xform_inv(const Plane& p_plane) const;
+
+ _FORCE_INLINE_ AABB xform(const AABB& p_aabb) const;
+ _FORCE_INLINE_ AABB xform_inv(const AABB& p_aabb) const;
+
+ void operator*=(const Transform& p_transform);
+ Transform operator*(const Transform& p_transform) const;
+
+ Transform interpolate_with(const Transform& p_transform, float p_c) const;
+
+ _FORCE_INLINE_ Transform inverse_xform(const Transform& t) const {
+
+ Vector3 v = t.origin - origin;
+ return Transform(basis.transpose_xform(t.basis),
+ basis.xform(v));
+ }
+
+ void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz,real_t tx, real_t ty, real_t tz) {
+
+ basis.elements[0][0]=xx;
+ basis.elements[0][1]=xy;
+ basis.elements[0][2]=xz;
+ basis.elements[1][0]=yx;
+ basis.elements[1][1]=yy;
+ basis.elements[1][2]=yz;
+ basis.elements[2][0]=zx;
+ basis.elements[2][1]=zy;
+ basis.elements[2][2]=zz;
+ origin.x=tx;
+ origin.y=ty;
+ origin.z=tz;
+ }
+
+ operator String() const;
+
+ Transform(const Matrix3& p_basis, const Vector3& p_origin=Vector3());
+ Transform() {}
+
+};
+
+
+_FORCE_INLINE_ Vector3 Transform::xform(const Vector3& p_vector) const {
+
+ return Vector3(
+ basis[0].dot(p_vector)+origin.x,
+ basis[1].dot(p_vector)+origin.y,
+ basis[2].dot(p_vector)+origin.z
+ );
+}
+_FORCE_INLINE_ Vector3 Transform::xform_inv(const Vector3& p_vector) const {
+
+ Vector3 v = p_vector - origin;
+
+ return Vector3(
+ (basis.elements[0][0]*v.x ) + ( basis.elements[1][0]*v.y ) + ( basis.elements[2][0]*v.z ),
+ (basis.elements[0][1]*v.x ) + ( basis.elements[1][1]*v.y ) + ( basis.elements[2][1]*v.z ),
+ (basis.elements[0][2]*v.x ) + ( basis.elements[1][2]*v.y ) + ( basis.elements[2][2]*v.z )
+ );
+}
+
+_FORCE_INLINE_ Plane Transform::xform(const Plane& p_plane) const {
+
+
+ Vector3 point=p_plane.normal*p_plane.d;
+ Vector3 point_dir=point+p_plane.normal;
+ point=xform(point);
+ point_dir=xform(point_dir);
+
+ Vector3 normal=point_dir-point;
+ normal.normalize();
+ real_t d=normal.dot(point);
+
+ return Plane(normal,d);
+
+}
+_FORCE_INLINE_ Plane Transform::xform_inv(const Plane& p_plane) const {
+
+ Vector3 point=p_plane.normal*p_plane.d;
+ Vector3 point_dir=point+p_plane.normal;
+ xform_inv(point);
+ xform_inv(point_dir);
+
+ Vector3 normal=point_dir-point;
+ normal.normalize();
+ real_t d=normal.dot(point);
+
+ return Plane(normal,d);
+
+}
+
+_FORCE_INLINE_ AABB Transform::xform(const AABB& p_aabb) const {
+ /* define vertices */
+#if 1
+ Vector3 x=basis.get_axis(0)*p_aabb.size.x;
+ Vector3 y=basis.get_axis(1)*p_aabb.size.y;
+ Vector3 z=basis.get_axis(2)*p_aabb.size.z;
+ Vector3 pos = xform( p_aabb.pos );
+//could be even further optimized
+ AABB new_aabb;
+ new_aabb.pos=pos;
+ new_aabb.expand_to( pos+x );
+ new_aabb.expand_to( pos+y );
+ new_aabb.expand_to( pos+z );
+ new_aabb.expand_to( pos+x+y );
+ new_aabb.expand_to( pos+x+z );
+ new_aabb.expand_to( pos+y+z );
+ new_aabb.expand_to( pos+x+y+z );
+ return new_aabb;
+#else
+
+
+ Vector3 vertices[8]={
+ Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z+p_aabb.size.z),
+ Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z),
+ Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z),
+ Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z),
+ Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z+p_aabb.size.z),
+ Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z),
+ Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z),
+ Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z)
+ };
+
+
+ AABB ret;
+
+ ret.pos=xform(vertices[0]);
+
+ for (int i=1;i<8;i++) {
+
+ ret.expand_to( xform(vertices[i]) );
+ }
+
+ return ret;
+#endif
+
+}
+_FORCE_INLINE_ AABB Transform::xform_inv(const AABB& p_aabb) const {
+
+ /* define vertices */
+ Vector3 vertices[8]={
+ Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z+p_aabb.size.z),
+ Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z),
+ Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z),
+ Vector3(p_aabb.pos.x+p_aabb.size.x, p_aabb.pos.y, p_aabb.pos.z),
+ Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z+p_aabb.size.z),
+ Vector3(p_aabb.pos.x, p_aabb.pos.y+p_aabb.size.y, p_aabb.pos.z),
+ Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z+p_aabb.size.z),
+ Vector3(p_aabb.pos.x, p_aabb.pos.y, p_aabb.pos.z)
+ };
+
+
+ AABB ret;
+
+ ret.pos=xform_inv(vertices[0]);
+
+ for (int i=1;i<8;i++) {
+
+ ret.expand_to( xform_inv(vertices[i]) );
+ }
+
+ return ret;
+
+}
+
+#ifdef OPTIMIZED_TRANSFORM_IMPL_OVERRIDE
+
+#else
+
+struct OptimizedTransform {
+
+ Transform transform;
+
+ _FORCE_INLINE_ void invert() {transform.invert(); }
+ _FORCE_INLINE_ void affine_invert() {transform.affine_invert(); }
+ _FORCE_INLINE_ Vector3 xform(const Vector3& p_vec) const { return transform.xform(p_vec); };
+ _FORCE_INLINE_ Vector3 xform_inv(const Vector3& p_vec) const { return transform.xform_inv(p_vec); };
+ _FORCE_INLINE_ OptimizedTransform operator*(const OptimizedTransform& p_ot ) const { return OptimizedTransform( transform * p_ot.transform ) ; }
+ _FORCE_INLINE_ Transform get_transform() const { return transform; }
+ _FORCE_INLINE_ void set_transform(const Transform& p_transform) { transform=p_transform; }
+
+ OptimizedTransform(const Transform& p_transform) {
+ transform=p_transform;
+ }
+};
+
+#endif
+
+#endif
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