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-rw-r--r--core/math/transform.h237
1 files changed, 112 insertions, 125 deletions
diff --git a/core/math/transform.h b/core/math/transform.h
index 45d7b2a12..e307aba12 100644
--- a/core/math/transform.h
+++ b/core/math/transform.h
@@ -37,7 +37,6 @@
*/
class Transform {
public:
-
Basis basis;
Vector3 origin;
@@ -47,199 +46,187 @@ public:
void affine_invert();
Transform affine_inverse() const;
- Transform rotated(const Vector3& p_axis,real_t p_phi) 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 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 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;
+ 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 Basis& get_basis() const { return basis; }
- void set_basis(const Basis& p_basis) { basis=p_basis; }
+ const Basis &get_basis() const { return basis; }
+ void set_basis(const Basis &p_basis) { basis = p_basis; }
- const Vector3& get_origin() const { return origin; }
- void set_origin(const Vector3& p_origin) { origin=p_origin; }
+ 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;
+ 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_ 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_ Plane xform(const Plane &p_plane) const;
+ _FORCE_INLINE_ Plane xform_inv(const Plane &p_plane) const;
- _FORCE_INLINE_ Rect3 xform(const Rect3& p_aabb) const;
- _FORCE_INLINE_ Rect3 xform_inv(const Rect3& p_aabb) const;
+ _FORCE_INLINE_ Rect3 xform(const Rect3 &p_aabb) const;
+ _FORCE_INLINE_ Rect3 xform_inv(const Rect3 &p_aabb) const;
- void operator*=(const Transform& p_transform);
- Transform operator*(const Transform& p_transform) const;
+ void operator*=(const Transform &p_transform);
+ Transform operator*(const Transform &p_transform) const;
- Transform interpolate_with(const Transform& p_transform, real_t p_c) const;
+ Transform interpolate_with(const Transform &p_transform, real_t p_c) const;
- _FORCE_INLINE_ Transform inverse_xform(const Transform& t) 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));
+ 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) {
+ 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;
+ 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 Basis& p_basis, const Vector3& p_origin=Vector3());
+ Transform(const Basis &p_basis, const Vector3 &p_origin = Vector3());
Transform() {}
-
};
-
-_FORCE_INLINE_ Vector3 Transform::xform(const Vector3& p_vector) const {
+_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
- );
+ 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 {
+_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 )
- );
+ (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 {
+_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 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;
+ Vector3 normal = point_dir - point;
normal.normalize();
- real_t d=normal.dot(point);
-
- return Plane(normal,d);
+ real_t d = normal.dot(point);
+ return Plane(normal, d);
}
-_FORCE_INLINE_ Plane Transform::xform_inv(const Plane& p_plane) const {
+_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;
+ 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;
+ Vector3 normal = point_dir - point;
normal.normalize();
- real_t d=normal.dot(point);
-
- return Plane(normal,d);
+ real_t d = normal.dot(point);
+ return Plane(normal, d);
}
-_FORCE_INLINE_ Rect3 Transform::xform(const Rect3& p_aabb) const {
- /* define vertices */
+_FORCE_INLINE_ Rect3 Transform::xform(const Rect3 &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
+ 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
Rect3 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 );
+ 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)
+ 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]);
+ ret.pos = xform(vertices[0]);
- for (int i=1;i<8;i++) {
+ for (int i = 1; i < 8; i++) {
- ret.expand_to( xform(vertices[i]) );
+ ret.expand_to(xform(vertices[i]));
}
return ret;
#endif
-
}
-_FORCE_INLINE_ Rect3 Transform::xform_inv(const Rect3& p_aabb) const {
+_FORCE_INLINE_ Rect3 Transform::xform_inv(const Rect3 &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)
+ 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)
};
-
Rect3 ret;
- ret.pos=xform_inv(vertices[0]);
+ ret.pos = xform_inv(vertices[0]);
- for (int i=1;i<8;i++) {
+ for (int i = 1; i < 8; i++) {
- ret.expand_to( xform_inv(vertices[i]) );
+ ret.expand_to(xform_inv(vertices[i]));
}
return ret;
-
}
#ifdef OPTIMIZED_TRANSFORM_IMPL_OVERRIDE
@@ -250,16 +237,16 @@ 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_ 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; }
+ _FORCE_INLINE_ void set_transform(const Transform &p_transform) { transform = p_transform; }
- OptimizedTransform(const Transform& p_transform) {
- transform=p_transform;
+ OptimizedTransform(const Transform &p_transform) {
+ transform = p_transform;
}
};
generated by cgit v1.2.3-70-g09d2 (git 2.51.2) at 2025-11-11 05:53:44 +0000