diff options
Diffstat (limited to 'src/math/tform.h')
| -rw-r--r-- | src/math/tform.h | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/src/math/tform.h b/src/math/tform.h index 2d61494..2a654b8 100644 --- a/src/math/tform.h +++ b/src/math/tform.h @@ -1,6 +1,7 @@ #ifndef MATH_TFORM_H #define MATH_TFORM_H +#include <array> #include "math/vector.h" #include "math/mat4.h" #include "math/quat.h" @@ -28,6 +29,20 @@ class Transform { 0.f, 0.f, 0.f, 1.f, }; } + + constexpr Matrix4 to_inverse_mat4() const & { + std::array<float, 3 * 3> m{{ + (2.f * (rot.w * rot.w + rot.x * rot.x) - 1.f) / scale.x, (2.f * (rot.x * rot.y + rot.w * rot.z) ) / scale.x, (2.f * (rot.x * rot.z - rot.w * rot.y) ) / scale.x, + (2.f * (rot.x * rot.y - rot.w * rot.z) ) / scale.y, (2.f * (rot.w * rot.w + rot.y * rot.y) - 1.f) / scale.y, (2.f * (rot.y * rot.z + rot.w * rot.x) ) / scale.y, + (2.f * (rot.x * rot.z + rot.w * rot.y) ) / scale.z, (2.f * (rot.y * rot.z - rot.w * rot.x) ) / scale.z, (2.f * (rot.w * rot.w + rot.z * rot.z) - 1.f) / scale.z, + }}; + return { + m[0], m[1], m[2], - (m[0] * loc.x + m[1] * loc.y + m[2] * loc.z), + m[3], m[4], m[5], - (m[3] * loc.x + m[4] * loc.y + m[5] * loc.z), + m[6], m[7], m[8], - (m[6] * loc.x + m[7] * loc.y + m[8] * loc.z), + 0.f, 0.f, 0.f, 1.0f, + }; + } }; } |