45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
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#include "Math/Transform.h"
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#include "Math/Matrix4.h"
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namespace XCEngine {
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namespace Math {
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Matrix4 Transform::ToMatrix() const {
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return Matrix4x4::TRS(position, rotation, scale);
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}
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Transform Transform::Inverse() const {
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Transform result;
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result.rotation = rotation.Inverse();
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result.scale = Vector3::One() / scale;
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result.position = result.rotation * (Vector3::Zero() - position) * result.scale;
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return result;
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}
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Transform Transform::operator*(const Transform& other) const {
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Transform result;
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result.position = position + rotation * (scale * other.position);
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result.rotation = rotation * other.rotation;
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result.scale = scale * other.scale;
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return result;
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}
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Vector3 Transform::TransformPoint(const Vector3& point) const {
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return position + rotation * (scale * point);
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}
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Vector3 Transform::TransformDirection(const Vector3& direction) const {
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return rotation * (scale * direction);
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}
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Vector3 Transform::InverseTransformPoint(const Vector3& point) const {
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return (rotation.Inverse() * (point - position)) / scale;
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}
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Vector3 Transform::InverseTransformDirection(const Vector3& direction) const {
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return rotation.Inverse() * direction / scale;
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}
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} // namespace Math
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} // namespace XCEngine
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