💿🐜 Antkeeper source code
https://antkeeper.com
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
233 lines
5.5 KiB
233 lines
5.5 KiB
/*
|
|
* Copyright (C) 2023 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_HPP
|
|
#define ANTKEEPER_MATH_TRANSFORM_HPP
|
|
|
|
#include <engine/math/vector.hpp>
|
|
#include <engine/math/quaternion.hpp>
|
|
#include <engine/math/matrix.hpp>
|
|
|
|
namespace math {
|
|
|
|
/**
|
|
* SRT transformation.
|
|
*
|
|
* @tparam T Scalar type.
|
|
*/
|
|
template <class T>
|
|
struct transform
|
|
{
|
|
/// Scalar type.
|
|
using scalar_type = T;
|
|
|
|
/// Vector type.
|
|
using vector_type = vec3<T>;
|
|
|
|
/// Quaternion type.
|
|
using quaternion_type = quat<T>;
|
|
|
|
/// Transformation matrix type.
|
|
using matrix_type = mat4<T>;
|
|
|
|
/// Translation vector.
|
|
vector_type translation;
|
|
|
|
/// Rotation quaternion.
|
|
quaternion_type rotation;
|
|
|
|
/// Scale vector.
|
|
vector_type scale;
|
|
|
|
/**
|
|
* Constructs a matrix representing the transformation.
|
|
*
|
|
* @return Transformation matrix.
|
|
*/
|
|
/// @{
|
|
[[nodiscard]] constexpr explicit operator matrix_type() const noexcept
|
|
{
|
|
matrix_type matrix = matrix_type(quaternion_type::matrix_type(rotation));
|
|
|
|
matrix[0][0] *= scale[0];
|
|
matrix[0][1] *= scale[0];
|
|
matrix[0][2] *= scale[0];
|
|
|
|
matrix[1][0] *= scale[1];
|
|
matrix[1][1] *= scale[1];
|
|
matrix[1][2] *= scale[1];
|
|
|
|
matrix[2][0] *= scale[2];
|
|
matrix[2][1] *= scale[2];
|
|
matrix[2][2] *= scale[2];
|
|
|
|
matrix[3][0] = translation[0];
|
|
matrix[3][1] = translation[1];
|
|
matrix[3][2] = translation[2];
|
|
|
|
return matrix;
|
|
}
|
|
|
|
[[nodiscard]] inline constexpr matrix_type matrix() const noexcept
|
|
{
|
|
return matrix_type(*this);
|
|
}
|
|
/// @}
|
|
|
|
/*
|
|
* Type-casts the transform scalars using `static_cast`.
|
|
*
|
|
* @tparam U Target scalar type.
|
|
*
|
|
* @return Type-casted transform.
|
|
*/
|
|
template <class U>
|
|
[[nodiscard]] inline constexpr explicit operator transform<U>() const noexcept
|
|
{
|
|
return {vec3<U>(translation), quat<U>(rotation), vec3<U>(scale)};
|
|
}
|
|
|
|
/// Returns an identity transform.
|
|
[[nodiscard]] static inline constexpr transform identity() noexcept
|
|
{
|
|
return {vector_type::zero(), quaternion_type::identity(), vector_type::one()};
|
|
}
|
|
};
|
|
|
|
/**
|
|
* Calculates the inverse of a transform.
|
|
*
|
|
* @param t Transform of which to take the inverse.
|
|
*/
|
|
template <class T>
|
|
[[nodiscard]] transform<T> inverse(const transform<T>& t) noexcept;
|
|
|
|
/**
|
|
* Combines two transforms.
|
|
*
|
|
* @param x First transform.
|
|
* @param y Second transform.
|
|
*
|
|
* @return Product of the two transforms.
|
|
*/
|
|
template <class T>
|
|
[[nodiscard]] transform<T> mul(const transform<T>& x, const transform<T>& y);
|
|
|
|
/**
|
|
* Transforms a vector by a transform.
|
|
*
|
|
* @param t Transform.
|
|
* @param v Vector.
|
|
*
|
|
* @return Transformed vector.
|
|
*/
|
|
template <class T>
|
|
[[nodiscard]] constexpr vector<T, 3> mul(const transform<T>& t, const vector<T, 3>& v) noexcept;
|
|
|
|
/**
|
|
* Transforms a vector by the inverse of a transform.
|
|
*
|
|
* @param v Vector.
|
|
* @param t Transform.
|
|
*
|
|
* @return Transformed vector.
|
|
*/
|
|
template <class T>
|
|
[[nodiscard]] constexpr vector<T, 3> mul(const vector<T, 3>& v, const transform<T>& t) noexcept;
|
|
|
|
template <class T>
|
|
transform<T> inverse(const transform<T>& t) noexcept
|
|
{
|
|
transform<T> inverse_t;
|
|
|
|
inverse_t.scale = T{1} / t.scale;
|
|
inverse_t.rotation = conjugate(t.rotation);
|
|
inverse_t.translation = -(inverse_t.rotation * t.translation);
|
|
|
|
return inverse_t;
|
|
}
|
|
|
|
template <class T>
|
|
transform<T> mul(const transform<T>& x, const transform<T>& y)
|
|
{
|
|
return
|
|
{
|
|
mul(x, y.translation),
|
|
normalize(x.rotation * y.rotation),
|
|
x.scale * y.scale
|
|
};
|
|
}
|
|
|
|
template <class T>
|
|
constexpr vector<T, 3> mul(const transform<T>& t, const vector<T, 3>& v) noexcept
|
|
{
|
|
return t.translation + t.rotation * (t.scale * v);
|
|
}
|
|
|
|
template <class T>
|
|
inline constexpr vector<T, 3> mul(const vector<T, 3>& v, const transform<T>& t) noexcept
|
|
{
|
|
return mul(inverse(t), v);
|
|
}
|
|
|
|
namespace operators {
|
|
|
|
/// @copydoc math::mul(const math::transform<T>&, const math::transform<T>&)
|
|
template <class T>
|
|
[[nodiscard]] inline math::transform<T> operator*(const math::transform<T>& x, const math::transform<T>& y)
|
|
{
|
|
return mul(x, y);
|
|
}
|
|
|
|
/// @copydoc math::mul(const math::transform<T>&, const math::vec3<T>&)
|
|
template <class T>
|
|
[[nodiscard]] inline constexpr math::vec3<T> operator*(const math::transform<T>& t, const math::vec3<T>& v) noexcept
|
|
{
|
|
return mul(t, v);
|
|
}
|
|
|
|
/// @copydoc math::mul(const math::vec3<T>&, const math::transform<T>&)
|
|
template <class T>
|
|
[[nodiscard]] inline constexpr math::vec3<T> operator*(const math::vec3<T>& v, const math::transform<T>& t) noexcept
|
|
{
|
|
return mul(v, t);
|
|
}
|
|
|
|
/**
|
|
* Combines two transforms and stores the result in the first transform.
|
|
*
|
|
* @param x First transform.
|
|
* @param y Second transform.
|
|
*
|
|
* @return Reference to the first transform.
|
|
*/
|
|
template <class T>
|
|
inline math::transform<T>& operator*=(math::transform<T>& x, const math::transform<T>& y)
|
|
{
|
|
return (x = x * y);
|
|
}
|
|
|
|
} // namespace operators
|
|
|
|
} // namespace math
|
|
|
|
// Bring transform operators into global namespace
|
|
using namespace math::operators;
|
|
|
|
#endif // ANTKEEPER_MATH_TRANSFORM_HPP
|