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243 | /**************************************************************************/
/* transform_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* 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. */
/**************************************************************************/
#include "transform_3d.h"
#include "core/string/ustring.h"
void Transform3D::affine_invert() {
basis.invert();
origin = basis.xform(-origin);
}
Transform3D Transform3D::affine_inverse() const {
Transform3D ret = *this;
ret.affine_invert();
return ret;
}
void Transform3D::invert() {
basis.transpose();
origin = basis.xform(-origin);
}
Transform3D Transform3D::inverse() const {
// FIXME: this function assumes the basis is a rotation matrix, with no scaling.
// Transform3D::affine_inverse can handle matrices with scaling, so GDScript should eventually use that.
Transform3D ret = *this;
ret.invert();
return ret;
}
void Transform3D::rotate(const Vector3 &p_axis, real_t p_angle) {
*this = rotated(p_axis, p_angle);
}
Transform3D Transform3D::rotated(const Vector3 &p_axis, real_t p_angle) const {
// Equivalent to left multiplication
Basis p_basis(p_axis, p_angle);
return Transform3D(p_basis * basis, p_basis.xform(origin));
}
Transform3D Transform3D::rotated_local(const Vector3 &p_axis, real_t p_angle) const {
// Equivalent to right multiplication
Basis p_basis(p_axis, p_angle);
return Transform3D(basis * p_basis, origin);
}
void Transform3D::rotate_basis(const Vector3 &p_axis, real_t p_angle) {
basis.rotate(p_axis, p_angle);
}
Transform3D Transform3D::looking_at(const Vector3 &p_target, const Vector3 &p_up, bool p_use_model_front) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(origin.is_equal_approx(p_target), Transform3D(), "The transform's origin and target can't be equal.");
#endif
Transform3D t = *this;
t.basis = Basis::looking_at(p_target - origin, p_up, p_use_model_front);
return t;
}
void Transform3D::set_look_at(const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up, bool p_use_model_front) {
#ifdef MATH_CHECKS
ERR_FAIL_COND_MSG(p_eye.is_equal_approx(p_target), "The eye and target vectors can't be equal.");
#endif
basis = Basis::looking_at(p_target - p_eye, p_up, p_use_model_front);
origin = p_eye;
}
Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t p_c) const {
Transform3D interp;
Vector3 src_scale = basis.get_scale();
Quaternion src_rot = basis.get_rotation_quaternion();
Vector3 src_loc = origin;
Vector3 dst_scale = p_transform.basis.get_scale();
Quaternion dst_rot = p_transform.basis.get_rotation_quaternion();
Vector3 dst_loc = p_transform.origin;
interp.basis.set_quaternion_scale(src_rot.slerp(dst_rot, p_c).normalized(), src_scale.lerp(dst_scale, p_c));
interp.origin = src_loc.lerp(dst_loc, p_c);
return interp;
}
void Transform3D::scale(const Vector3 &p_scale) {
basis.scale(p_scale);
origin *= p_scale;
}
Transform3D Transform3D::scaled(const Vector3 &p_scale) const {
// Equivalent to left multiplication
return Transform3D(basis.scaled(p_scale), origin * p_scale);
}
Transform3D Transform3D::scaled_local(const Vector3 &p_scale) const {
// Equivalent to right multiplication
return Transform3D(basis.scaled_local(p_scale), origin);
}
void Transform3D::scale_basis(const Vector3 &p_scale) {
basis.scale(p_scale);
}
void Transform3D::translate_local(real_t p_tx, real_t p_ty, real_t p_tz) {
translate_local(Vector3(p_tx, p_ty, p_tz));
}
void Transform3D::translate_local(const Vector3 &p_translation) {
for (int i = 0; i < 3; i++) {
origin[i] += basis[i].dot(p_translation);
}
}
Transform3D Transform3D::translated(const Vector3 &p_translation) const {
// Equivalent to left multiplication
return Transform3D(basis, origin + p_translation);
}
Transform3D Transform3D::translated_local(const Vector3 &p_translation) const {
// Equivalent to right multiplication
return Transform3D(basis, origin + basis.xform(p_translation));
}
void Transform3D::orthonormalize() {
basis.orthonormalize();
}
Transform3D Transform3D::orthonormalized() const {
Transform3D _copy = *this;
_copy.orthonormalize();
return _copy;
}
void Transform3D::orthogonalize() {
basis.orthogonalize();
}
Transform3D Transform3D::orthogonalized() const {
Transform3D _copy = *this;
_copy.orthogonalize();
return _copy;
}
bool Transform3D::is_equal_approx(const Transform3D &p_transform) const {
return basis.is_equal_approx(p_transform.basis) && origin.is_equal_approx(p_transform.origin);
}
bool Transform3D::is_finite() const {
return basis.is_finite() && origin.is_finite();
}
bool Transform3D::operator==(const Transform3D &p_transform) const {
return (basis == p_transform.basis && origin == p_transform.origin);
}
bool Transform3D::operator!=(const Transform3D &p_transform) const {
return (basis != p_transform.basis || origin != p_transform.origin);
}
void Transform3D::operator*=(const Transform3D &p_transform) {
origin = xform(p_transform.origin);
basis *= p_transform.basis;
}
Transform3D Transform3D::operator*(const Transform3D &p_transform) const {
Transform3D t = *this;
t *= p_transform;
return t;
}
void Transform3D::operator*=(real_t p_val) {
origin *= p_val;
basis *= p_val;
}
Transform3D Transform3D::operator*(real_t p_val) const {
Transform3D ret(*this);
ret *= p_val;
return ret;
}
void Transform3D::operator/=(real_t p_val) {
basis /= p_val;
origin /= p_val;
}
Transform3D Transform3D::operator/(real_t p_val) const {
Transform3D ret(*this);
ret /= p_val;
return ret;
}
Transform3D::operator String() const {
return "[X: " + basis.get_column(0).operator String() +
", Y: " + basis.get_column(1).operator String() +
", Z: " + basis.get_column(2).operator String() +
", O: " + origin.operator String() + "]";
}
Transform3D::Transform3D(const Basis &p_basis, const Vector3 &p_origin) :
basis(p_basis),
origin(p_origin) {
}
Transform3D::Transform3D(const Vector3 &p_x, const Vector3 &p_y, const Vector3 &p_z, const Vector3 &p_origin) :
origin(p_origin) {
basis.set_column(0, p_x);
basis.set_column(1, p_y);
basis.set_column(2, p_z);
}
Transform3D::Transform3D(real_t p_xx, real_t p_xy, real_t p_xz, real_t p_yx, real_t p_yy, real_t p_yz, real_t p_zx, real_t p_zy, real_t p_zz, real_t p_ox, real_t p_oy, real_t p_oz) {
basis = Basis(p_xx, p_xy, p_xz, p_yx, p_yy, p_yz, p_zx, p_zy, p_zz);<--- Variable 'basis' is assigned in constructor body. Consider performing initialization in initialization list. [+]When an object of a class is created, the constructors of all member variables are called consecutively in the order the variables are declared, even if you don't explicitly write them to the initialization list. You could avoid assigning 'basis' a value by passing the value to the constructor in the initialization list.
origin = Vector3(p_ox, p_oy, p_oz);
}
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