public static SourceCTransform MatrixTransform(SourceMatrix3x4 _in)
{
SourceCTransform _out = new SourceCTransform();
MatrixTransform(_in, ref _out);
return(_out);
}
public static SourceMatrix3x4 TransformMatrix(SourceCTransform _in)
{
SourceMatrix3x4 _out = new SourceMatrix3x4();
TransformMatrix(_in, ref _out);
return(_out);
}
public static void VectorIRotate(SourceVector v, SourceCTransform t, ref SourceVector _out)
{
// FIXME: Make work directly with the transform
SourceMatrix3x4 m = new SourceMatrix3x4();
TransformMatrix(t, ref m);
VectorIRotate(v, m, ref _out);
}
public static SourceVector TransformPoint(SourceCTransform tm, SourceVector p)
{
return(new SourceVector(
tm.m_vPosition.x + (1.0f - 2.0f * tm.m_orientation.y * tm.m_orientation.y - 2.0f * tm.m_orientation.z * tm.m_orientation.z) * p.x + (2.0f * tm.m_orientation.x * tm.m_orientation.y - 2.0f * tm.m_orientation.w * tm.m_orientation.z) * p.y + (2.0f * tm.m_orientation.x * tm.m_orientation.z + 2.0f * tm.m_orientation.w * tm.m_orientation.y) * p.z,
tm.m_vPosition.y + (2.0f * tm.m_orientation.x * tm.m_orientation.y + 2.0f * tm.m_orientation.w * tm.m_orientation.z) * p.x + (1.0f - 2.0f * tm.m_orientation.x * tm.m_orientation.x - 2.0f * tm.m_orientation.z * tm.m_orientation.z) * p.y + (2.0f * tm.m_orientation.y * tm.m_orientation.z - 2.0f * tm.m_orientation.w * tm.m_orientation.x) * p.z,
tm.m_vPosition.z + (2.0f * tm.m_orientation.x * tm.m_orientation.z - 2.0f * tm.m_orientation.w * tm.m_orientation.y) * p.x + (2.0f * tm.m_orientation.y * tm.m_orientation.z + 2.0f * tm.m_orientation.w * tm.m_orientation.x) * p.y + (1.0f - 2.0f * tm.m_orientation.x * tm.m_orientation.x - 2.0f * tm.m_orientation.y * tm.m_orientation.y) * p.z
));
}
//inline void TransformPlane( const cplane_t &inPlane, cplane_t &outPlane ) const;
//inline void InverseTransformPlane( const cplane_t &inPlane, cplane_t &outPlane ) const;
/// Computes an inverse. Uses the 'TR' naming to be consistent with the same method in matrix3x4_t (which only works with orthonormal matrices)
public void InverseTR(ref SourceCTransform _out)
{
SourceMatrix3x4 xForm = ToMatrix();
_out = xForm.InverseTR().ToCTransform();
}
public static void MatrixTransform(SourceMatrix3x4 _in, ref SourceCTransform _out)
{
MatrixQuaternion(_in, ref _out.m_orientation);
MatrixGetColumn(_in, 3, ref _out.m_vPosition);
}
public static void RotatePoint(SourceCTransform tm, SourceVector p, ref SourceVector _out)
{
_out.x = (1.0f - 2.0f * tm.m_orientation.y * tm.m_orientation.y - 2.0f * tm.m_orientation.z * tm.m_orientation.z) * p.x + (2.0f * tm.m_orientation.x * tm.m_orientation.y - 2.0f * tm.m_orientation.w * tm.m_orientation.z) * p.y + (2.0f * tm.m_orientation.x * tm.m_orientation.z + 2.0f * tm.m_orientation.w * tm.m_orientation.y) * p.z;
_out.y = (2.0f * tm.m_orientation.x * tm.m_orientation.y + 2.0f * tm.m_orientation.w * tm.m_orientation.z) * p.x + (1.0f - 2.0f * tm.m_orientation.x * tm.m_orientation.x - 2.0f * tm.m_orientation.z * tm.m_orientation.z) * p.y + (2.0f * tm.m_orientation.y * tm.m_orientation.z - 2.0f * tm.m_orientation.w * tm.m_orientation.x) * p.z;
_out.z = (2.0f * tm.m_orientation.x * tm.m_orientation.z - 2.0f * tm.m_orientation.w * tm.m_orientation.y) * p.x + (2.0f * tm.m_orientation.y * tm.m_orientation.z + 2.0f * tm.m_orientation.w * tm.m_orientation.x) * p.y + (1.0f - 2.0f * tm.m_orientation.x * tm.m_orientation.x - 2.0f * tm.m_orientation.y * tm.m_orientation.y) * p.z;
}
public static void TransformVectorsForward(SourceCTransform _in, ref SourceVector pForward)
{
QuaternionVectorsForward(_in.m_orientation, ref pForward);
}
public static void TransformVectorsFLU(SourceCTransform _in, ref SourceVector pForward, ref SourceVector pLeft, ref SourceVector pUp)
{
QuaternionVectorsFLU(_in.m_orientation, ref pForward, ref pLeft, ref pUp);
}
public static void TransformMatrix(SourceCTransform _in, ref SourceMatrix3x4 _out)
{
QuaternionMatrix(_in.m_orientation, _in.m_vPosition, ref _out);
}