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