public void SetLookAt(Vector3 eye, Vector3 target, Vector3 up)
{
// Make rotation matrix
// Z vector
Vector3 zAxis = eye - target;
zAxis.Normalize();
Vector3 yAxis = up;
Vector3 xAxis = yAxis.Cross(zAxis);
// Recompute Y = Z cross X
yAxis = zAxis.Cross(xAxis);
xAxis.Normalize();
yAxis.Normalize();
basis = Basis.CreateFromAxes(xAxis, yAxis, zAxis);
origin = eye;
}
public void SetLookAt(Vector3 eye, Vector3 target, Vector3 up)
{
// Make rotation matrix
// Z vector
Vector3 column2 = eye - target;
column2.Normalize();
Vector3 column1 = up;
Vector3 column0 = column1.Cross(column2);
// Recompute Y = Z cross X
column1 = column2.Cross(column0);
column0.Normalize();
column1.Normalize();
basis = new Basis(column0, column1, column2);
origin = eye;
}
/// <summary>
/// Constructs a transformation matrix from 4 vectors (matrix columns).
/// </summary>
/// <param name="column0">The X vector, or column index 0.</param>
/// <param name="column1">The Y vector, or column index 1.</param>
/// <param name="column2">The Z vector, or column index 2.</param>
/// <param name="origin">The origin vector, or column index 3.</param>
public Transform3D(Vector3 column0, Vector3 column1, Vector3 column2, Vector3 origin)
{
basis = new Basis(column0, column1, column2);
this.origin = origin;
}
/// <summary>
/// Scales the transform by the given 3D <paramref name="scale"/> factor.
/// The operation is done in the local frame, equivalent to
/// multiplying the matrix from the right.
/// </summary>
/// <param name="scale">The scale to introduce.</param>
/// <returns>The scaled transformation matrix.</returns>
public Transform3D ScaledLocal(Vector3 scale)
{
Basis tmpBasis = Basis.FromScale(scale);
return(new Transform3D(basis * tmpBasis, origin));
}
/// <summary>
/// Rotates the transform around the given <paramref name="axis"/> by <paramref name="angle"/> (in radians).
/// The axis must be a normalized vector.
/// The operation is done in the local frame, equivalent to
/// multiplying the matrix from the right.
/// </summary>
/// <param name="axis">The axis to rotate around. Must be normalized.</param>
/// <param name="angle">The angle to rotate, in radians.</param>
/// <returns>The rotated transformation matrix.</returns>
public Transform3D RotatedLocal(Vector3 axis, real_t angle)
{
Basis tmpBasis = new Basis(axis, angle);
return(new Transform3D(basis * tmpBasis, origin));
}
/// <summary>
/// Returns the inverse of the transform, under the assumption that
/// the transformation is composed of rotation and translation
/// (no scaling, use <see cref="AffineInverse"/> for transforms with scaling).
/// </summary>
/// <returns>The inverse matrix.</returns>
public Transform3D Inverse()
{
Basis basisTr = basis.Transposed();
return(new Transform3D(basisTr, basisTr.Xform(-origin)));
}
/// <summary>
/// Returns the inverse of the transform, under the assumption that
/// the transformation is composed of rotation, scaling, and translation.
/// </summary>
/// <seealso cref="Inverse"/>
/// <returns>The inverse transformation matrix.</returns>
public Transform3D AffineInverse()
{
Basis basisInv = basis.Inverse();
return(new Transform3D(basisInv, basisInv.Xform(-origin)));
}
/// <summary>
/// Constructs a transformation matrix from the given quaternion and origin vector.
/// </summary>
/// <param name="quat">The <see cref="Godot.Quat"/> to create the basis from.</param>
/// <param name="origin">The origin vector, or column index 3.</param>
public Transform(Quat quat, Vector3 origin)
{
basis = new Basis(quat);
this.origin = origin;
}
// Constructors
public Transform(Vector3 xAxis, Vector3 yAxis, Vector3 zAxis, Vector3 origin)
{
basis = Basis.CreateFromAxes(xAxis, yAxis, zAxis);
this.origin = origin;
}
/// <summary>
/// Constructs a <see cref="Quaternion"/> from the given <see cref="Basis"/>.
/// </summary>
/// <param name="basis">The <see cref="Basis"/> to construct from.</param>
public Quaternion(Basis basis)
{
this = basis.Quaternion();
}
public Vector3 GetEuler()
{
var basis = new Basis(this);
return(basis.GetEuler());
}
public Transform inverse()
{
Basis basisTr = basis.transposed();
return(new Transform(basisTr, basisTr.xform(-origin)));
}
public Transform affine_inverse()
{
Basis basisInv = basis.inverse();
return(new Transform(basisInv, basisInv.xform(-origin)));
}
public Transform(Vector3 xAxis, Vector3 yAxis, Vector3 zAxis, Vector3 origin)
{
this.basis = Basis.create_from_axes(xAxis, yAxis, zAxis);
this.origin = origin;
}
/// <summary>
/// Constructs a transformation matrix from the given <paramref name="quaternion"/>
/// and <paramref name="origin"/> vector.
/// </summary>
/// <param name="quaternion">The <see cref="Quaternion"/> to create the basis from.</param>
/// <param name="origin">The origin vector, or column index 3.</param>
public Transform3D(Quaternion quaternion, Vector3 origin)
{
basis = new Basis(quaternion);
this.origin = origin;
}
/// <summary>
/// Constructs a transformation matrix from the given <paramref name="basis"/> and
/// <paramref name="origin"/> vector.
/// </summary>
/// <param name="basis">The <see cref="Basis"/> to create the basis from.</param>
/// <param name="origin">The origin vector, or column index 3.</param>
public Transform3D(Basis basis, Vector3 origin)
{
this.basis = basis;
this.origin = origin;
}
public Quat(Basis basis)
{
this = basis.Quat();
}
