98 lines
2.6 KiB
HLSL
98 lines
2.6 KiB
HLSL
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#ifndef TRANSFORM_INCLUDE
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#define TRANSFORM_INCLUDE
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#include "Quaternion.cginc"
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#include "Integration.cginc"
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struct transform
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{
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float4 translation;
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float4 scale;
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quaternion rotation;
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transform Transform(float4 translation_, quaternion rotation_, float4 scale_)
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{
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// make sure there are good values in the 4th component:
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translation_[3] = 0;
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scale_[3] = 1;
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transform t;
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t.translation = translation_;
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t.rotation = rotation_;
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t.scale = scale_;
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return t;
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}
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transform Inverse()
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{
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return Transform(float4(rotate_vector(q_conj(rotation),(translation / -scale).xyz),0),
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q_conj(rotation),
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1 / scale);
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}
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transform Interpolate(transform other, float translationalMu, float rotationalMu, float scaleMu)
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{
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return Transform(lerp(translation, other.translation, translationalMu),
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q_slerp(rotation, other.rotation, rotationalMu),
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lerp(scale, other.scale, scaleMu));
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}
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transform Integrate(float4 linearVelocity, float4 angularVelocity, float dt)
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{
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return Transform(IntegrateLinear(translation, linearVelocity, dt),
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IntegrateAngular(rotation, angularVelocity, dt),
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scale);
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}
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float4 TransformPoint(float4 pnt)
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{
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return float4(translation.xyz + rotate_vector(rotation, (pnt * scale).xyz),0);
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}
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float4 InverseTransformPoint(float4 pnt)
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{
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return float4(rotate_vector(q_conj(rotation),(pnt - translation).xyz) / scale.xyz , 0);
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}
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float4 TransformPointUnscaled(float4 pnt)
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{
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return float4(translation.xyz + rotate_vector(rotation,pnt.xyz), 0);
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}
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float4 InverseTransformPointUnscaled(float4 pnt)
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{
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return float4(rotate_vector(q_conj(rotation), (pnt - translation).xyz), 0);
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}
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float4 TransformDirection(float4 dir)
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{
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return float4(rotate_vector(rotation, dir.xyz), 0);
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}
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float4 InverseTransformDirection(float4 dir)
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{
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return float4(rotate_vector(q_conj(rotation), dir.xyz), 0);
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}
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float4 TransformVector(float4 vect)
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{
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return float4(rotate_vector(rotation, (vect * scale).xyz), 0);
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}
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float4 InverseTransformVector(float4 vect)
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{
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return float4(rotate_vector(q_conj(rotation),vect.xyz) / scale.xyz, 0);
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}
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transform Multiply(transform b)
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{
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return Transform(this.TransformPoint(b.translation),
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qmul(this.rotation,b.rotation),
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this.scale * b.scale);
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}
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};
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#endif
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