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Diffstat (limited to 'src/math/tform.h')
| -rw-r--r-- | src/math/tform.h | 35 |
1 files changed, 35 insertions, 0 deletions
diff --git a/src/math/tform.h b/src/math/tform.h new file mode 100644 index 0000000..2d61494 --- /dev/null +++ b/src/math/tform.h @@ -0,0 +1,35 @@ +#ifndef MATH_TFORM_H +#define MATH_TFORM_H + +#include "math/vector.h" +#include "math/mat4.h" +#include "math/quat.h" + +namespace engine::math { + +class Transform { + public: + Vector3 loc; + Quaternion rot; + Vector3 scale; + + constexpr Transform(Vector3 loc, Quaternion rot, Vector3 scale) : loc{loc}, rot{rot}, scale{scale} { + } + + constexpr Transform opposite() const & { + return {-loc, rot.conjugate(), 1.f / scale}; + } + + constexpr Matrix4 to_mat4() const & { + return { + scale.x * (2.f * (rot.w * rot.w + rot.x * rot.x) - 1.f), scale.y * (2.f * (rot.x * rot.y - rot.w * rot.z) ), scale.z * (2.f * (rot.x * rot.z + rot.w * rot.y) ), loc.x, + 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.z * (2.f * (rot.y * rot.z - rot.w * rot.x) ), loc.y, + scale.x * (2.f * (rot.x * rot.z - rot.w * rot.y) ), scale.y * (2.f * (rot.y * rot.z + rot.w * rot.x) ), scale.z * (2.f * (rot.w * rot.w + rot.z * rot.z) - 1.f), loc.z, + 0.f, 0.f, 0.f, 1.f, + }; + } +}; + +} + +#endif // MATH_TFORM_H |