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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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36
src/Math/Transform.h
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@@ -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));