78 lines
2.5 KiB
C
78 lines
2.5 KiB
C
#include "transform.h"
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#include <string.h>
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const transform2d t2d_unit = {
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.pos = {0,0},
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.scale = {1,1},
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.angle = 0
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};
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HMM_Vec3 trans_forward(const transform3d *const trans) { return HMM_QVRot(vFWD, trans->rotation); }
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HMM_Vec3 trans_back(const transform3d *trans) { return HMM_QVRot(vBKWD, trans->rotation); }
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HMM_Vec3 trans_up(const transform3d *trans) { return HMM_QVRot(vUP, trans->rotation); }
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HMM_Vec3 trans_down(const transform3d *trans) { return HMM_QVRot(vDOWN, trans->rotation); }
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HMM_Vec3 trans_right(const transform3d *trans) { return HMM_QVRot(vRIGHT, trans->rotation); }
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HMM_Vec3 trans_left(const transform3d *trans) { return HMM_QVRot(vLEFT, trans->rotation); }
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HMM_Vec2 mat_t_pos(HMM_Mat3 m, HMM_Vec2 pos) { return HMM_MulM3V3(m, (HMM_Vec3){pos.x, pos.y, 1}).xy; }
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HMM_Vec2 mat_t_dir(HMM_Mat3 m, HMM_Vec2 dir)
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{
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m.Columns[2] = (HMM_Vec3){0,0,1};
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return HMM_MulM3V3(m, (HMM_Vec3){dir.x, dir.y, 1}).XY;
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}
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HMM_Vec2 mat_up(HMM_Mat3 m) { return HMM_NormV2(m.Columns[1].XY); }
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HMM_Vec2 mat_right(HMM_Mat3 m) { return HMM_NormV2(m.Columns[0].XY); }
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float vec_angle(HMM_Vec2 a, HMM_Vec2 b) { return acos(HMM_DotV2(a,b)/(HMM_LenV2(a)*HMM_LenV2(b))); }
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float vec_dirangle(HMM_Vec2 a, HMM_Vec2 b) { return atan2(b.x, b.y) - atan2(a.x, a.y); }
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HMM_Vec3 mat3_t_pos(HMM_Mat4 m, HMM_Vec3 pos) { return HMM_MulM4V4(m, (HMM_Vec4){pos.X, pos.Y, pos.Z, 1}).XYZ; }
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HMM_Vec3 mat3_t_dir(HMM_Mat4 m, HMM_Vec3 dir)
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{
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m.Columns[3] = (HMM_Vec4){0,0,0,1};
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return mat3_t_pos(m, dir);
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}
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HMM_Mat3 transform2d2mat(transform2d trn) {
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return HMM_MulM3(HMM_Translate2D(trn.pos), HMM_MulM3(HMM_RotateM3(trn.angle), HMM_ScaleM3(trn.scale)));
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}
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HMM_Mat4 transform2d2mat4(transform2d trn)
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{
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transform3d t3d;
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t3d.pos.xy = trn.pos;
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t3d.scale.xy = trn.scale;
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t3d.rotation = HMM_QFromAxisAngle_RH((HMM_Vec3){0,0,-1}, trn.angle);
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return transform3d2mat(t3d);
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}
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transform2d mat2transform2d(HMM_Mat3 m)
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{
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transform2d t;
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t.pos = m.Columns[2].xy;
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t.scale = (HMM_Vec2){HMM_LenV2(m.Columns[0].xy), HMM_LenV2(m.Columns[1].xy)};
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t.angle = acos(m.Columns[0].x/t.scale.x);
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return t;
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}
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HMM_Mat4 transform3d2mat(transform3d t) {
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return HMM_MulM4(HMM_Translate(t.pos),
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HMM_MulM4(HMM_QToM4(t.rotation),
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HMM_Scale(t.scale)));
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}
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transform3d mat2transform3d(HMM_Mat4 m)
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{
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transform3d t;
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t.pos = m.Columns[3].xyz;
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for (int i = 0; i < 2; i++)
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t.scale.Elements[i] = HMM_LenV3(m.Columns[i].xyz);
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// for (int i = 0; i < 2; i++)
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// m.Columns[i].xyz = HMM_MulV3(m.Columns[i].xyz, t.scale.Elements[i]);
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t.rotation = HMM_M4ToQ_RH(m);
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return t;
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}
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