Transform.cpp

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#include <tdme/engine/Transform.h>
 
#include <string>
 
#include <tdme/tdme.h>
#include <tdme/engine/model/RotationOrder.h>
#include <tdme/engine/Rotation.h>
#include <tdme/engine/Transform.h>
#include <tdme/math/Matrix4x4.h>
#include <tdme/math/Quaternion.h>
#include <tdme/math/Vector3.h>
 
using std::to_string;
 
using tdme::engine::model::RotationOrder;
using tdme::engine::Rotation;
using tdme::engine::Transform;
using tdme::math::Matrix4x4;
using tdme::math::Quaternion;
using tdme::math::Vector3;
 
void Transform::fromMatrix(const Matrix4x4& matrix, RotationOrder* rotationOrder) {
    matrix.getScale(scale);
    matrix.getTranslation(translation);
    auto eulerAngles = matrix.computeEulerAngles();
    rotations.clear();
    rotations.emplace_back(rotationOrder->getAxis0(), eulerAngles[rotationOrder->getAxis0VectorIndex()]);
    rotations.emplace_back(rotationOrder->getAxis1(), eulerAngles[rotationOrder->getAxis1VectorIndex()]);
    rotations.emplace_back(rotationOrder->getAxis2(), eulerAngles[rotationOrder->getAxis2VectorIndex()]);
    update();
}
 
void Transform::update()
{
    // matrices
    Matrix4x4 translationMatrix;
    Matrix4x4 scaleMatrix;
 
    // transform matrix identity
    transformMatrix.identity();
    // set up translation matrix
    translationMatrix.identity().setTranslation(translation);
    // set up scale matrix
    scaleMatrix.identity().scale(scale);
    // create and multiply rotations
    rotationsQuaternion.identity();
    for (auto& rotation: rotations) {
        rotation.update();
        rotationsQuaternion.multiply(rotation.getQuaternion());
    }
    rotationsQuaternion.normalize();
    // apply to transform matrix
    transformMatrix.multiply(scaleMatrix);
    transformMatrix.multiply(rotationsQuaternion.computeMatrix());
    transformMatrix.multiply(translationMatrix);
}
 
Transform& Transform::invert() {
    //
    fromMatrix(transformMatrix.clone().invert(), RotationOrder::ZYX);
    //
    return *this;
}