/// <summary>
/// Compute the inverse of the transform. When the inverse of the transform is applied, it undoes the effects of the transform.
/// </summary>
/// <param name="inverted">Returns the inverted transform.</param>
public void Invert(out Transform inverted)
{
inverted.Scale = 1f / Scale;
Quaternion.Inverse(ref Orientation, out inverted.Orientation);
Vector3.Negate(ref Position, out inverted.Position);
CombineInverse(inverted.Scale, ref inverted.Position, ref inverted.Orientation, out inverted.Combined);
}
/// <summary>
/// Apply a transform to the collision skin part to bring it into world space.
/// </summary>
/// <param name="transform">The world-space transform to apply.</param>
public override void ApplyTransform(ref Transform transform)
{
Transform = transform;
transform.Invert(out TransformInverse);
if (transform.Combined != Matrix.Identity)
{
_boundingBox = AlignedBox.Null;
for (int i = 0; i < _body.Body.Length; i++)
{
Vector3 p;
Vector3.Transform(ref _body.Body[i], ref transform.Combined, out p);
_boundingBox.Add(ref p);
}
}
else
_boundingBox = _body.Nodes[0].BoundingBox;
}
/// <summary>
/// Transforms a bounding box into world-space or local-space using the specified transform. The box may grow
/// significantly depending on the size and new/old basis axes.
/// </summary>
/// <param name="box">The bounding box to transform.</param>
/// <param name="transform">The transformation to apply.</param>
/// <param name="output">Returns the transformed bounding box.</param>
public static void Transform(ref AlignedBox box, ref Transform transform, out AlignedBox output)
{
Vector3 dim = box.Maximum - box.Minimum;
Vector3 p1, p2, p3, p4, p5, p6, p7, p8;
p1 = p2 = p3 = p4 = p5 = p6 = p7 = p8 = box.Minimum;
p2.X += dim.X;
p3.X += dim.X; p3.Y += dim.Y;
p4.Y += dim.Y;
p5.Z += dim.Z;
p6.X += dim.X; p6.Z += dim.Z;
p7.X += dim.X; p7.Y += dim.Y; p7.Z += dim.Z;
p8.Y += dim.Y; p8.Z += dim.Z;
Vector3.Transform(ref p1, ref transform.Combined, out p1);
Vector3.Transform(ref p2, ref transform.Combined, out p2);
Vector3.Transform(ref p3, ref transform.Combined, out p3);
Vector3.Transform(ref p4, ref transform.Combined, out p4);
Vector3.Transform(ref p5, ref transform.Combined, out p5);
Vector3.Transform(ref p6, ref transform.Combined, out p6);
Vector3.Transform(ref p7, ref transform.Combined, out p7);
Vector3.Transform(ref p8, ref transform.Combined, out p8);
output = AlignedBox.Null;
output.Add(ref p1);
output.Add(ref p2);
output.Add(ref p3);
output.Add(ref p4);
output.Add(ref p5);
output.Add(ref p6);
output.Add(ref p7);
output.Add(ref p8);
}
/// <summary>
/// Transform the segment using the specified transformation.
/// </summary>
/// <param name="s">The segment to transform.</param>
/// <param name="transform">the transform to apply.</param>
/// <param name="output">Returns the transformed segment.</param>
public static void Transform(ref Segment s, ref Transform transform, out Segment output)
{
Vector3.Transform(ref s.P1, ref transform.Combined, out output.P1);
Vector3.Transform(ref s.P2, ref transform.Combined, out output.P2);
}
public static void Transform(ref Triangle tri, ref Transform transform, out Triangle output)
{
Vector3.Transform(ref tri.V1, ref transform.Combined, out output.V1);
Vector3.Transform(ref tri.V2, ref transform.Combined, out output.V2);
Vector3.Transform(ref tri.V3, ref transform.Combined, out output.V3);
Vector3.Transform(ref tri.Normal, ref transform.Orientation, out output.Normal);
}
/// <summary>
/// Apply a transform to the collision skin part to bring it into world space.
/// </summary>
/// <param name="transform">The world-space transform to apply.</param>
public override void ApplyTransform(ref Transform transform)
{
Vector3.Transform(ref _body.Center, ref transform.Combined, out World.Center);
World.Radius = _body.Radius * transform.Scale;
}
/// <summary>
/// Apply a transform to the collision skin part to bring it into world space.
/// </summary>
/// <param name="transform">The world-space transform to apply.</param>
public override void ApplyTransform(ref Transform transform)
{
Vector3.Transform(ref _point, ref transform.Combined, out Plane.P);
Vector3.Transform(ref _normal, ref transform.Orientation, out Plane.Normal);
}
/// <summary>
/// Apply a transform to a frame to produce a new frame.
/// </summary>
/// <param name="input">The frame to transform.</param>
/// <param name="transform">The transform to apply.</param>
/// <param name="output">Returns the new, transformed frame.</param>
public static void Transform(ref Frame input, ref Transform transform, out Frame output)
{
Vector3.Transform(ref input.X, ref transform.Orientation, out output.X);
Vector3.Transform(ref input.Y, ref transform.Orientation, out output.Y);
Vector3.Transform(ref input.Z, ref transform.Orientation, out output.Z);
Vector3.Transform(ref input.Origin, ref transform.Combined, out output.Origin);
}
/// <summary> /// When overridden in a derived class, applies a world transform to the collision part. /// </summary> /// <param name="transform">The transform used to bring the part into world-space.</param> public abstract void ApplyTransform(ref Transform transform);
/// <summary>
/// Applies the specified transform to bring all parts of the composition into world-space.
/// </summary>
/// <param name="transform">The world-space transform to apply.</param>
public virtual void ApplyTransform(ref Transform transform)
{
for (int i = 0; i < _parts.Count; i++)
{
_parts[i].ApplyTransform(ref transform);
}
if (_parts.Count > 0)
{
AlignedBox tmp;
_parts[0].BoundingBox(out BoundingBox);
for (int i = 1; i < _parts.Count; i++)
{
_parts[i].BoundingBox(out tmp);
AlignedBox.Merge(ref BoundingBox, ref tmp, out BoundingBox);
}
}
}
/// <summary>
/// Apply a transform to the collision skin part to bring it into world space.
/// </summary>
/// <param name="transform">The world-space transform to apply.</param>
public override void ApplyTransform(ref Transform transform)
{
Vector3.Transform(ref _body.P1, ref transform.Combined, out World.P1);
Vector3.Transform(ref _body.P2, ref transform.Combined, out World.P2);
}
/// <summary>
/// Apply a transform to the collision skin part to bring it into world space.
/// </summary>
/// <param name="transform">The world-space transform to apply.</param>
public override void ApplyTransform(ref Transform transform)
{
Vector3.Transform(_compiled.Body, ref transform.Combined, _world);
Vector3.Transform(_compiled.FaceNormals, ref transform.Orientation, _faceNormals);
Vector3.Transform(_compiled.EdgeVectors, ref transform.Orientation, _edgeVectors);
_center = transform.Position;
}