vsg: include/vsg/maths/transform.h Source File

vsg 1.1.3 VulkanSceneGraph library

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transform.h
1#pragma once
2
3/* <editor-fold desc="MIT License">
4
5Copyright(c) 2018 Robert Osfield
6
7Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
8
9The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
10
11THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
12
13</editor-fold> */
14
15#include <vsg/maths/common.h>
16
17namespace vsg
18{
20 template<typename T>
21 constexpr t_mat4<T> rotate(const t_quat<T>& q)
22 {
23 T qxx(q.x * q.x);
24 T qyy(q.y * q.y);
25 T qzz(q.z * q.z);
26 T qxy(q.x * q.y);
27 T qxz(q.x * q.z);
28 T qyz(q.y * q.z);
29 T qwx(q.w * q.x);
30 T qwy(q.w * q.y);
31 T qwz(q.w * q.z);
32
33 T zero(0.0);
34 T one(1.0);
35 T two(2.0);
36
37 return t_mat4<T>(one - two * (qyy + qzz), two * (qxy + qwz), two * (qxz - qwy), zero,
38 two * (qxy - qwz), one - two * (qxx + qzz), two * (qyz + qwx), zero,
39 two * (qxz + qwy), two * (qyz - qwx), one - two * (qxx + qyy), zero,
40 zero, zero, zero, 1.0);
41 }
42
44 template<typename T>
45 t_mat4<T> rotate(T angle_radians, T x, T y, T z)
46 {
47 const T c = std::cos(angle_radians);
48 const T s = std::sin(angle_radians);
49 const T one_minus_c = 1 - c;
50 return t_mat4<T>(x * x * one_minus_c + c, y * x * one_minus_c + z * s, x * z * one_minus_c - y * s, 0,
51 x * y * one_minus_c - z * s, y * y * one_minus_c + c, y * z * one_minus_c + x * s, 0,
52 x * z * one_minus_c + y * s, y * z * one_minus_c - x * s, z * z * one_minus_c + c, 0,
53 0, 0, 0, 1);
54 }
55
57 template<typename T>
58 t_mat4<T> rotate(T angle_radians, const t_vec3<T>& v)
59 {
60 return rotate(angle_radians, v.value[0], v.value[1], v.value[2]);
61 }
62
64 template<typename T>
65 constexpr t_mat4<T> translate(T x, T y, T z)
66 {
67 return t_mat4<T>(1, 0, 0, 0,
68 0, 1, 0, 0,
69 0, 0, 1, 0,
70 x, y, z, 1);
71 }
72
74 template<typename T>
75 constexpr t_mat4<T> translate(const t_vec3<T>& v)
76 {
77 return translate(v.value[0], v.value[1], v.value[2]);
78 }
79
81 template<typename T>
82 constexpr t_mat4<T> scale(T s)
83 {
84 return t_mat4<T>(s, 0, 0, 0,
85 0, s, 0, 0,
86 0, 0, s, 0,
87 0, 0, 0, 1);
88 }
89
91 template<typename T>
92 constexpr t_mat4<T> scale(T sx, T sy, T sz)
93 {
94 return t_mat4<T>(sx, 0, 0, 0,
95 0, sy, 0, 0,
96 0, 0, sz, 0,
97 0, 0, 0, 1);
98 }
99
101 template<typename T>
102 constexpr t_mat4<T> scale(const t_vec3<T>& v)
103 {
104 return scale(v.value[0], v.value[1], v.value[2]);
105 }
106
108 template<typename T>
109 constexpr t_mat3<T> transpose(const t_mat3<T>& m)
110 {
111 return t_mat3<T>(m[0][0], m[1][0], m[2][0],
112 m[0][1], m[1][1], m[2][1],
113 m[0][2], m[1][2], m[2][2]);
114 }
115
117 template<typename T>
118 constexpr t_mat4<T> transpose(const t_mat4<T>& m)
119 {
120 return t_mat4<T>(m[0][0], m[1][0], m[2][0], m[3][0],
121 m[0][1], m[1][1], m[2][1], m[3][1],
122 m[0][2], m[1][2], m[2][2], m[3][2],
123 m[0][3], m[1][3], m[2][3], m[3][3]);
124 }
125
130 //. https://vincent-p.github.io/posts/vulkan_perspective_matrix/
131 template<typename T>
132 constexpr t_mat4<T> perspective(T fovy_radians, T aspectRatio, T zNear, T zFar)
133 {
134 T f = static_cast<T>(1.0 / std::tan(fovy_radians * 0.5));
135 T r = static_cast<T>(1.0 / (zFar - zNear));
136 return t_mat4<T>(f / aspectRatio, 0, 0, 0,
137 0, -f, 0, 0,
138 0, 0, zNear * r, -1,
139 0, 0, (zFar * zNear) * r, 0);
140 }
141
143 template<typename T>
144 constexpr t_mat4<T> perspective(T left, T right, T bottom, T top, T zNear, T zFar)
145 {
146 return t_mat4<T>(2.0 * zNear / (right - left), 0.0, 0.0, 0.0,
147 0.0, 2.0 * zNear / (bottom - top), 0.0, 0.0,
148 (right + left) / (right - left), (bottom + top) / (bottom - top), zNear / (zFar - zNear), -1.0,
149 0.0, 0.0, zNear * zFar / (zFar - zNear), 0.0);
150 }
151
153 template<typename T>
154 constexpr t_mat4<T> orthographic(T left, T right, T bottom, T top, T zNear, T zFar)
155 {
156 return t_mat4<T>(2.0 / (right - left), 0.0, 0.0, 0.0,
157 0.0, 2.0 / (bottom - top), 0.0, 0.0,
158 0.0, 0.0, 1.0 / (zFar - zNear), 0.0,
159 -(right + left) / (right - left), -(bottom + top) / (bottom - top), zFar / (zFar - zNear), 1.0);
160 }
161
162 template<typename T>
163 constexpr t_mat4<T> lookAt(const t_vec3<T>& eye, const t_vec3<T>& center, const t_vec3<T>& up)
164 {
165 using vec_type = t_vec3<T>;
166
167 vec_type forward = normalize(center - eye);
168 vec_type up_normal = normalize(up);
169 vec_type side = normalize(cross(forward, up_normal));
170 vec_type u = normalize(cross(side, forward));
171
172 return t_mat4<T>(side[0], u[0], -forward[0], 0,
173 side[1], u[1], -forward[1], 0,
174 side[2], u[2], -forward[2], 0,
175 0, 0, 0, 1) *
176 vsg::translate(-eye.x, -eye.y, -eye.z);
177 }
178
180 enum class CoordinateConvention
181 {
182 NO_PREFERENCE,
183 X_UP, // x up, y left/west, z out/south
184 Y_UP, // x right/east, y up, z out/south
185 Z_UP // x right/east, y forward/north, z up
186 };
187
190 extern VSG_DECLSPEC bool transform(CoordinateConvention source, CoordinateConvention destination, dmat4& matrix);
191
193 extern VSG_DECLSPEC mat3 inverse_3x3(const mat4& m);
194
196 extern VSG_DECLSPEC dmat3 inverse_3x3(const dmat4& m);
197
199 extern VSG_DECLSPEC mat4 inverse_4x3(const mat4& m);
200
202 extern VSG_DECLSPEC dmat4 inverse_4x3(const dmat4& m);
203
205 extern VSG_DECLSPEC mat4 inverse_4x4(const mat4& m);
206
208 extern VSG_DECLSPEC dmat4 inverse_4x4(const dmat4& m);
209
211 extern VSG_DECLSPEC mat4 inverse(const mat4& m);
212
214 extern VSG_DECLSPEC dmat4 inverse(const dmat4& m);
215
217 extern VSG_DECLSPEC float determinant(const mat4& m);
218
220 extern VSG_DECLSPEC double determinant(const dmat4& m);
221
225 extern VSG_DECLSPEC bool decompose(const mat4& m, vec3& translation, quat& rotation, vec3& scale);
226
230 extern VSG_DECLSPEC bool decompose(const dmat4& m, dvec3& translation, dquat& rotation, dvec3& scale);
231
233 extern VSG_DECLSPEC sphere computeFrustumBound(const mat4& m);
234
236 extern VSG_DECLSPEC dsphere computeFrustumBound(const dmat4& m);
237
240 struct VSG_DECLSPEC ComputeTransform : public ConstVisitor
241 {
242 dmat4 matrix;
243
244 void apply(const Transform& transform) override;
245 void apply(const MatrixTransform& mt) override;
246 void apply(const Camera& camera) override;
247 };
248
250 template<typename T>
251 dmat4 computeTransform(const T& nodePath)
252 {
253 return visit<ComputeTransform>(nodePath).matrix;
254 }
255
256} // namespace vsg
vsg::Camera
Definition Camera.h:27
vsg::ConstVisitor
Definition ConstVisitor.h:172
vsg::MatrixTransform
Definition MatrixTransform.h:24
vsg::Transform
Transform node is a pure virtual base class for positioning/scaling/rotating subgraphs.
Definition Transform.h:22
vsg::ComputeTransform
Definition transform.h:241
vsg::allocator_affinity_nodes
std container adapter for allocating with MEMORY_AFFINITY_NODES
Definition Allocator.h:138
vsg::t_mat4< double >