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Diffstat (limited to 'src/math/tform.hpp')
| -rw-r--r-- | src/math/tform.hpp | 49 |
1 files changed, 49 insertions, 0 deletions
diff --git a/src/math/tform.hpp b/src/math/tform.hpp new file mode 100644 index 0000000..cd9301f --- /dev/null +++ b/src/math/tform.hpp @@ -0,0 +1,49 @@ +#ifndef MATH_TFORM_H +#define MATH_TFORM_H + +#include <array> +#include "math/vector.hpp" +#include "math/mat4.hpp" +#include "math/quat.hpp" + +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, + }; + } + + 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, + }; + } +}; + +} + +#endif // MATH_TFORM_H |