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This commit is contained in:
AndreaRigoni
2026-03-21 16:30:56 +00:00
parent cd95f16221
commit 0bff36f8ba
6 changed files with 163 additions and 26 deletions
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16
src/Math/ContainerBox.h
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@@ -77,13 +77,13 @@ public:
* @brief Sets the box origin relative to its coordinate system.
* @param v The origin position vector.
*/
inline void SetOrigin(const Vector3f &v) { m_LocalT.SetPosition(v); }
void SetOrigin(const Vector3f &v) { m_LocalT.SetPosition(v); }
/**
* @brief Gets the box origin relative to its coordinate system.
* @return The origin position vector.
*/
inline Vector3f GetOrigin() const { return m_LocalT.GetPosition(); }
Vector3f GetOrigin() const { return m_LocalT.GetPosition(); }
/**
* @brief Sets the size of the box.
@@ -101,7 +101,7 @@ public:
* @brief Gets the current size (scale) of the box.
* @return The size vector.
*/
inline Vector3f GetSize() const {
Vector3f GetSize() const {
Vector3f s = this->GetScale();
Vector3f ls = m_LocalT.GetScale();
return Vector3f(s(0) * ls(0), s(1) * ls(1), s(2) * ls(2));
@@ -112,7 +112,7 @@ public:
* @param first Index of the first axis (0=X, 1=Y, 2=Z).
* @param second Index of the second axis (0=X, 1=Y, 2=Z).
*/
inline void FlipLocalAxes(int first, int second) {
void FlipLocalAxes(int first, int second) {
m_LocalT.FlipAxes(first, second);
}
@@ -133,7 +133,7 @@ public:
* @param v The local point (4D homogeneous vector).
* @return The transformed point in world space.
*/
inline Vector4f GetWorldPoint(const Vector4f &v) const {
Vector4f GetWorldPoint(const Vector4f &v) const {
return m_LocalT.GetWorldMatrix() * v;
}
@@ -144,7 +144,7 @@ public:
* @param z Z coordinate in local space.
* @return The transformed point in world space.
*/
inline Vector4f GetWorldPoint(const float x, const float y, const float z) {
Vector4f GetWorldPoint(const float x, const float y, const float z) {
return this->GetWorldPoint(Vector4f(x, y, z, 1));
}
@@ -153,7 +153,7 @@ public:
* @param v The world point (4D homogeneous vector).
* @return The transformed point in box-local space.
*/
inline Vector4f GetLocalPoint(const Vector4f &v) const {
Vector4f GetLocalPoint(const Vector4f &v) const {
return m_LocalT.GetWorldMatrix().inverse() * v;
}
@@ -164,7 +164,7 @@ public:
* @param z Z coordinate in world space.
* @return The transformed point in box-local space.
*/
inline Vector4f GetLocalPoint(const float x, const float y, const float z) {
Vector4f GetLocalPoint(const float x, const float y, const float z) {
return this->GetLocalPoint(Vector4f(x, y, z, 1));
}

36
src/Math/Transform.h
View File

@@ -81,12 +81,12 @@ public:
Eigen::Affine3f& GetTransform() { return m_T; }
inline AffineTransform *GetParent() const { return this->m_Parent; }
AffineTransform *GetParent() const { return this->m_Parent; }
inline void SetParent(AffineTransform *name) { this->m_Parent = name; }
void SetParent(AffineTransform *name) { this->m_Parent = name; }
inline void SetMatrix (Matrix4f mat) { m_T.matrix() = mat; }
inline Matrix4f GetMatrix() const { return m_T.matrix(); }
void SetMatrix (Matrix4f mat) { m_T.matrix() = mat; }
Matrix4f GetMatrix() const { return m_T.matrix(); }
Matrix4f GetWorldMatrix() const
{
@@ -94,45 +94,45 @@ public:
else return m_Parent->GetWorldMatrix() * m_T.matrix(); // T = B * A //
}
inline void SetPosition(const Vector3f v) { this->m_T.translation() = v; }
void SetPosition(const Vector3f v) { this->m_T.translation() = v; }
inline Vector3f GetPosition() const { return this->m_T.translation(); }
Vector3f GetPosition() const { return this->m_T.translation(); }
inline void SetRotation(const Matrix3f m) { this->m_T.linear() = m; }
void SetRotation(const Matrix3f m) { this->m_T.linear() = m; }
inline Matrix3f GetRotation() const { return this->m_T.rotation(); }
Matrix3f GetRotation() const { return this->m_T.rotation(); }
inline void Translate(const Vector3f v) { this->m_T.pretranslate(v); }
void Translate(const Vector3f v) { this->m_T.pretranslate(v); }
inline void Scale(const Vector3f v) { this->m_T.scale(v); }
void Scale(const Vector3f v) { this->m_T.scale(v); }
inline Vector3f GetScale() const {
Vector3f GetScale() const {
return Vector3f(m_T.linear().col(0).norm(),
m_T.linear().col(1).norm(),
m_T.linear().col(2).norm());
}
inline void Rotate(const Matrix3f m) { this->m_T.rotate(m); }
void Rotate(const Matrix3f m) { this->m_T.rotate(m); }
inline void Rotate(const float angle, Vector3f axis)
void Rotate(const float angle, Vector3f axis)
{
axis.normalize(); // prehaps not necessary ( see eigens )
Eigen::AngleAxisf ax(angle,axis);
this->m_T.rotate(Eigen::Quaternion<float>(ax));
}
inline void Rotate(const Vector3f euler_axis) {
void Rotate(const Vector3f euler_axis) {
float angle = euler_axis.norm();
Rotate(angle,euler_axis);
}
inline void PreRotate(const Matrix3f m) { this->m_T.prerotate(m); }
void PreRotate(const Matrix3f m) { this->m_T.prerotate(m); }
inline void QuaternionRotate(const Vector4f q)
void QuaternionRotate(const Vector4f q)
{ this->m_T.rotate(Eigen::Quaternion<float>(q)); }
inline void EulerYZYRotate(const Vector3f e) {
void EulerYZYRotate(const Vector3f e) {
Matrix3f mat;
mat = Eigen::AngleAxisf(e.x(), Vector3f::UnitY())
* Eigen::AngleAxisf(e.y(), Vector3f::UnitZ())
@@ -140,7 +140,7 @@ public:
m_T.rotate(mat);
}
inline void FlipAxes(int first, int second)
void FlipAxes(int first, int second)
{
Matrix3f mat = Matrix3f::Identity();
mat.col(first).swap(mat.col(second));

29
src/Math/testing/ContainerBoxTest.cpp
View File

@@ -162,6 +162,35 @@ int main()
{ // test parent-child relationship
ContainerBox Parent;
Parent.SetOrigin(Vector3f(1,1,1));
Parent.SetSize(Vector3f(2,2,2));
ContainerBox Child;
Child.SetParent(&Parent);
Child.SetOrigin(Vector3f(1,1,1));
Child.SetSize(Vector3f(2,2,2));
HPoint3f pt = Child.GetLocalPoint(HPoint3f(0,0,0));
HPoint3f wp = Child.GetWorldPoint(pt);
TEST0( Vector4f0(wp - HPoint3f(0,0,0)) );
pt = HPoint3f(1,1,1);
wp = Child.GetWorldPoint(pt);
TEST0( Vector4f0(wp - HPoint3f(2,2,2)) );
pt = HPoint3f(1,2,3);
wp = Child.GetWorldPoint(pt);
std::cout << "Child.GetWorldPoint(HPoint3f(1,2,3)): " << wp << std::endl;
TEST0( Vector4f0(wp - HPoint3f(2,3,4)) );
pt = HPoint3f(1,2,3);
wp = Child.GetWorldPoint(pt);
TEST0( Vector4f0(wp - HPoint3f(2,3,4)) );
}
END_TESTING;
}