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Add more utility methods to Transform and Matrix3x3

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This commit is contained in:
Wojtek Figat
2022-06-16 10:50:53 +02:00
parent bc8cc75ad8
commit 995e5bc6ff
5 changed files with 252 additions and 31 deletions
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25
Source/Engine/Core/Math/Transform.cpp
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@@ -2,11 +2,17 @@
#include "Transform.h"
#include "Matrix.h"
#include "Vector2.h"
#include "Matrix3x3.h"
#include "../Types/String.h"
Transform Transform::Identity(Vector3(0, 0, 0));
Transform::Transform(const Vector3& position, const Matrix3x3& rotationScale)
: Translation(position)
{
rotationScale.Decompose(Scale, Orientation);
}
String Transform::ToString() const
{
return String::Format(TEXT("{}"), *this);
@@ -122,11 +128,10 @@ void Transform::LocalToWorld(const Transform& other, Transform& result) const
result.Translation = Vector3(tmp.X + Translation.X, tmp.Y + Translation.Y, tmp.Z + Translation.Z);
}
Vector3 Transform::LocalToWorldVector(const Vector3& vector) const
void Transform::LocalToWorldVector(const Vector3& vector, Vector3& result) const
{
Vector3 result = vector * Scale;
Vector3::Transform(result, Orientation, result);
return result;
Vector3 tmp = vector * Scale;
Vector3::Transform(tmp, Orientation, result);
}
void Transform::LocalToWorld(const Vector3& point, Vector3& result) const
@@ -145,9 +150,7 @@ void Transform::WorldToLocal(const Transform& other, Transform& result) const
invScale.Y = 1.0f / invScale.Y;
if (invScale.Z != 0.0f)
invScale.Z = 1.0f / invScale.Z;
const Quaternion invRotation = Orientation.Conjugated();
Quaternion::Multiply(invRotation, other.Orientation, result.Orientation);
result.Orientation.Normalize();
Float3::Multiply(other.Scale, invScale, result.Scale);
@@ -171,7 +174,7 @@ void Transform::WorldToLocal(const Vector3& point, Vector3& result) const
result *= invScale;
}
Vector3 Transform::WorldToLocalVector(const Vector3& vector) const
void Transform::WorldToLocalVector(const Vector3& vector, Vector3& result) const
{
Float3 invScale = Scale;
if (invScale.X != 0.0f)
@@ -180,13 +183,9 @@ Vector3 Transform::WorldToLocalVector(const Vector3& vector) const
invScale.Y = 1.0f / invScale.Y;
if (invScale.Z != 0.0f)
invScale.Z = 1.0f / invScale.Z;
const Quaternion invRotation = Orientation.Conjugated();
Vector3 result;
Vector3::Transform(vector, invRotation, result);
return result * invScale;
result *= invScale;
}
Transform Transform::Lerp(const Transform& t1, const Transform& t2, float amount)