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- /*
- * Copyright (C) 2021 Christopher J. Howard
- *
- * This file is part of Antkeeper source code.
- *
- * Antkeeper source code is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Antkeeper source code is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef ANTKEEPER_MATH_TRANSFORM_FUNCTIONS_HPP
- #define ANTKEEPER_MATH_TRANSFORM_FUNCTIONS_HPP
-
- #include "math/transform-type.hpp"
- #include "math/vector-functions.hpp"
- #include "math/matrix-functions.hpp"
- #include "math/quaternion-functions.hpp"
-
- namespace math {
-
- /**
- * Calculates the inverse of a transform.
- *
- * @param t Transform of which to take the inverse.
- */
- template <class T>
- transform<T> inverse(const transform<T>& t);
-
- /**
- * Converts a transform to a transformation matrix.
- *
- * @param t Transform.
- * @return Matrix representing the transformation described by `t`.
- */
- template <class T>
- matrix<T, 4, 4> matrix_cast(const transform<T>& t);
-
- /**
- * Multiplies two transforms.
- *
- * @param x First transform.
- * @param y Second transform.
- * @return Product of the two transforms.
- */
- template <class T>
- transform<T> mul(const transform<T>& x, const transform<T>& y);
-
- /**
- * Multiplies a vector by a transform.
- *
- * @param t Transform.
- * @param v Vector.
- * @return Product of the transform and vector.
- */
- template <class T>
- vector<T, 3> mul(const transform<T>& t, const vector<T, 3>& v);
-
- template <class T>
- transform<T> inverse(const transform<T>& t)
- {
- transform<T> inverse_t;
- inverse_t.scale = {T(1) / t.scale.x, T(1) / t.scale.y, T(1) / t.scale.z};
- inverse_t.rotation = conjugate(t.rotation);
- inverse_t.translation = negate(mul(inverse_t.rotation, t.translation));
- return inverse_t;
- }
-
- template <class T>
- matrix<T, 4, 4> matrix_cast(const transform<T>& t)
- {
- matrix<T, 4, 4> transformation = resize<4, 4>(matrix_cast(t.rotation));
- transformation[3] = {t.translation[0], t.translation[1], t.translation[2], T(1)};
- return scale(transformation, t.scale);
- }
-
- template <class T>
- transform<T> mul(const transform<T>& x, const transform<T>& y)
- {
- return
- {
- mul(x, y.translation),
- normalize(mul(x.rotation, y.rotation)),
- x.scale * y.scale
- };
- }
-
- template <class T>
- vector<T, 3> mul(const transform<T>& t, const vector<T, 3>& v)
- {
- return t.translation + (t.rotation * (v * t.scale));
- }
-
- } // namespace math
-
- #endif // ANTKEEPER_MATH_TRANSFORM_FUNCTIONS_HPP
-
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