1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
|
#include "transform.h"
void transform_getpositionandrotation(Transform* trans, Vec3* pos, Quat* rot) {
*pos = trans->localposition;
*rot = trans->localrotation;
Transform* cur = trans->parent;
while (cur) {
/*按照srt的顺序计算pos*/
vec3_scale3(pos, &cur->localscale, pos);
quat_applytovec3(&cur->localrotation, pos, pos);
vec3_plus(pos, &cur->localposition, pos);
/*计算旋转*/
quat_multiply(&cur->localrotation, rot, rot);
cur = cur->parent;
}
}
void transform_getinvmatrixnoscale(Transform* trans, Mat4* worldToLocal) {
Vec3 pos; Quat rot;
transform_getpositionandrotation(trans, &pos, &rot);
quat_invert(&rot, &rot);
/*(TR)^-1 = R^-1T^-1*/
quat_tomat4(&rot, worldToLocal);
vec3_scale(&pos, -1, &pos);
mat4_translate(worldToLocal, &pos, worldToLocal);
}
void transform_getrotation(Transform* trans, Quat* rot) {
*rot = trans->localrotation;
Transform* cur = trans->parent;
while (cur) {
quat_multiply(&cur->localrotation, rot, rot);
}
}
void transform_localtoworlddir(Transform* trans, Vec3* dir, Vec3* out) {
//RrRs
}
|
