86 lines
1.8 KiB
C++
86 lines
1.8 KiB
C++
|
|
#include "Transform.h"
|
|
#include <math.h>
|
|
|
|
Transform::Transform()
|
|
{
|
|
m_matrix = Matrix::identity();
|
|
}
|
|
|
|
Transform Transform::getInverse()
|
|
{
|
|
Transform inv;
|
|
inv.m_matrix = m_matrix.getInverse();
|
|
return inv;
|
|
}
|
|
|
|
void Transform::translate(double x, double y, double z)
|
|
{
|
|
Matrix t = Matrix::identity();
|
|
t[0][3] = x;
|
|
t[1][3] = y;
|
|
t[2][3] = z;
|
|
m_matrix *= t;
|
|
}
|
|
|
|
void Transform::rotate(double angle, double xv, double yv, double zv)
|
|
{
|
|
/* formula from http://en.wikipedia.org/wiki/Rotation_matrix */
|
|
Vector l(xv, yv, zv);
|
|
l.normalize();
|
|
|
|
double c = cos(angle);
|
|
double s = sin(angle);
|
|
|
|
double lx2 = l[0] * l[0];
|
|
double ly2 = l[1] * l[1];
|
|
double lz2 = l[2] * l[2];
|
|
|
|
Matrix t = Matrix::identity();
|
|
t[0][0] = lx2 + (1 - lx2) * c;
|
|
t[0][1] = l[0] * l[1] * (1 - c) - l[2] * s;
|
|
t[0][2] = l[0] * l[2] * (1 - c) + l[1] * s;
|
|
|
|
t[1][0] = l[0] * l[1] * (1 - c) + l[2] * s;
|
|
t[1][1] = ly2 + (1 - ly2) * c;
|
|
t[1][2] = l[1] * l[2] * (1 - c) - l[0] * s;
|
|
|
|
t[2][0] = l[0] * l[2] * (1 - c) - l[1] * s;
|
|
t[2][1] = l[1] * l[2] * (1 - c) + l[0] * s;
|
|
t[2][2] = lz2 + (1 - lz2) * c;
|
|
|
|
m_matrix *= t;
|
|
}
|
|
|
|
void Transform::scale(double xs, double ys, double zs)
|
|
{
|
|
Matrix t = Matrix::identity();
|
|
t[0][0] = xs;
|
|
t[1][1] = ys;
|
|
t[2][2] = zs;
|
|
m_matrix *= t;
|
|
}
|
|
|
|
Vector Transform::transform_point(const Vector & v)
|
|
{
|
|
return m_matrix * v;
|
|
}
|
|
|
|
Vector Transform::transform_direction(const Vector & v)
|
|
{
|
|
return m_matrix % v;
|
|
}
|
|
|
|
Vector Transform::transform_normal(const Vector & v)
|
|
{
|
|
return (m_matrix % v).normalize();
|
|
}
|
|
|
|
Ray Transform::transform_ray(const Ray & r)
|
|
{
|
|
Vector newPosition = m_matrix * r.getOrigin();
|
|
Vector newDirection = m_matrix % r.getDirection();
|
|
Ray res(newPosition, newDirection);
|
|
return res;
|
|
}
|