From 8e471259d2ecfa9c9f293ac45a6e9e119ec31fc9 Mon Sep 17 00:00:00 2001 From: hyzboy Date: Sun, 4 Aug 2024 22:29:46 +0800 Subject: [PATCH] Improved Transform class. --- inc/hgl/math/Transform.h | 279 +++++++++++++++++---------------------- src/Math/Transform.cpp | 117 ++++++++++++++++ 2 files changed, 241 insertions(+), 155 deletions(-) diff --git a/inc/hgl/math/Transform.h b/inc/hgl/math/Transform.h index c12a96b..d1fdfec 100644 --- a/inc/hgl/math/Transform.h +++ b/inc/hgl/math/Transform.h @@ -9,20 +9,28 @@ namespace hgl */ class Transform { - protected: + uint32 version; ///<版本号（注：用于记录任何变化，而不是matrix） - uint32 version; + void UpdateVersion() + { + if(version>=0x70000000) + version=0; + else + ++version; + } + + protected: bool is_identity; bool is_zero_rotate; bool matrix_dirty; + //matrix其实用的少，所以在不取matrix时，并不会计算。 Matrix4f matrix; Matrix4f inverse_matrix; Matrix4f transpose_inverse_matrix; Vector3f translation_vector; - Quatf rotation_quat; Vector3f rotation_axis; float rotate_angle; @@ -31,79 +39,15 @@ namespace hgl protected: - void UpdateQuat() - { - if(IsNearlyZero(rotate_angle)) - { - if(is_zero_rotate) - return; - - is_zero_rotate=true; - rotation_quat=IdentityQuatf; - return; - } - else - { - is_zero_rotate=false; - rotation_quat=RotationQuat(rotate_angle,rotation_axis); - } - - matrix_dirty=true; - } + void UpdateQuat(); public: - void UpdateMatrix() - { - if(!matrix_dirty) - return; + void UpdateMatrix(); - if(translation_vector==ZeroVector3f - &&rotation_quat==IdentityQuatf - &&scale_vector==OneVector3f) - { - if(is_identity) //如果之前就是空的，那不更新版本号 - { - matrix_dirty=false; - return; - } - - SetToIdentity(); - } - else - { - matrix=translate(translation_vector)*ToMatrix(rotation_quat)*scale(scale_vector); - inverse_matrix=inverse(matrix); - transpose_inverse_matrix=transpose(inverse_matrix); - - is_identity=false; - } - - matrix_dirty=false; - - if(version>0xF0000000) - version=0; - else - ++version; - } - - const uint32 GetVersion() - { - UpdateMatrix(); - return version; - } - - const bool IsIdentity() - { - UpdateMatrix(); - return is_identity; - } - - const Matrix4f &GetMatrix() - { - UpdateMatrix(); - return matrix; - } + const uint32 GetVersion (){UpdateMatrix();return version;} + const bool IsIdentity (){UpdateMatrix();return is_identity;} + const Matrix4f &GetMatrix (){UpdateMatrix();return matrix;} const Matrix4f GetMatrix()const //不能执行UpdateMatrix时的获取 { @@ -113,7 +57,8 @@ namespace hgl return matrix; } - operator const Matrix4f &(){return GetMatrix();} + operator const Matrix4f & (){return GetMatrix();} + operator const Transform & (){UpdateMatrix();return *this;} const Matrix4f &GetInverseMatrix() { @@ -121,6 +66,7 @@ namespace hgl return inverse_matrix; } + const Vector3f &GetTranslation ()const{return translation_vector;} const Vector3f &GetScale ()const{return scale_vector;} @@ -130,6 +76,16 @@ namespace hgl void SetTranslation(const float x,const float y,const float z) { + if(is_identity) + { + if(IsNearlyZero(x) + &&IsNearlyZero(y) + &&IsNearlyZero(z)) + return; + } + + is_identity=false; + translation_vector.x=x; translation_vector.y=y; translation_vector.z=z; @@ -138,6 +94,16 @@ namespace hgl void SetTranslation(const Vector3f &v) { + if(is_identity) + { + if(IsNearlyZero(v.x) + &&IsNearlyZero(v.y) + &&IsNearlyZero(v.z)) + return; + } + + is_identity=false; + translation_vector=v; matrix_dirty=true; } @@ -152,6 +118,14 @@ namespace hgl void SetRotation(const Quatf &q) { + if(is_identity) + { + if(q==IdentityQuatf) + return; + } + + is_identity=false; + rotation_quat=q; ExtractedQuat(q,rotation_axis,rotate_angle); matrix_dirty=true; @@ -159,6 +133,14 @@ namespace hgl void SetRotation(const Vector3f &axis,const float angle) { + if(is_identity) + { + if(IsNearlyZero(angle)==0) + return; + } + + is_identity=false; + rotation_axis=axis; rotate_angle=angle; UpdateQuat(); @@ -166,6 +148,14 @@ namespace hgl void SetRotation(const AXIS &axis,const float angle) { + if(is_identity) + { + if(IsNearlyZero(angle)==0) + return; + } + + is_identity=false; + rotation_axis=GetAxisVector(axis); rotate_angle=angle; UpdateQuat(); @@ -173,18 +163,43 @@ namespace hgl void SetRotateAngle(float angle) { + if(is_identity) + { + if(IsNearlyZero(angle)==0) + return; + } + + is_identity=false; + rotate_angle=angle; UpdateQuat(); } void SetScale(const float &v) { + if(is_identity) + { + if(IsNearlyEqual(v,1.0f)) + return; + } + is_identity=false; + scale_vector=Vector3f(v,v,v); matrix_dirty=true; } void SetScale(const float x,const float y,const float z) { + if(is_identity) + { + if(IsNearlyEqual(x,1.0f) + &&IsNearlyEqual(y,1.0f) + &&IsNearlyEqual(z,1.0f)) + return; + } + + is_identity=false; + scale_vector.x=x; scale_vector.y=y; scale_vector.z=z; @@ -194,6 +209,16 @@ namespace hgl void SetScale(const Vector3f &v) { + if(is_identity) + { + if(IsNearlyEqual(v.x,1.0f) + &&IsNearlyEqual(v.y,1.0f) + &&IsNearlyEqual(v.z,1.0f)) + return; + } + + is_identity=false; + scale_vector=v; matrix_dirty=true; } @@ -203,113 +228,55 @@ namespace hgl Transform() { SetToIdentity(); + version=0; } Transform(const Matrix4f &m) { SetFromMatrix4f(m); + version=0; } Transform(const Transform &t) { hgl_cpy(*this,t); + version=0; } - void SetToIdentity() - { - is_identity=true; - is_zero_rotate=true; + void SetToIdentity(); - matrix=Identity4f; - inverse_matrix=Identity4f; - - matrix_dirty=false; - - translation_vector=ZeroVector3f; - rotation_quat=IdentityQuatf; - rotation_axis=ZeroVector3f; - rotate_angle=0; - scale_vector=OneVector3f; - } - - const bool operator == (const Transform &t) - { - UpdateMatrix(); - - if(is_identity) - { - if(t.is_identity) - return(true); - else - return(false); - } - else - { - if(t.is_identity) - return(false); - } - - const Matrix4f tm=t.GetMatrix(); - - return matrix==tm; - } + const bool operator == (const Transform &t); void operator = (const Transform &t) { + if(operator==(t)) + return; + + uint32 old_version=version; + hgl_cpy(*this,t); + version=++old_version; UpdateMatrix(); } - void SetFromMatrix4f(const Matrix4f &m) - { - is_identity=IsIdentityMatrix(m); + void SetFromMatrix4f(const Matrix4f &m); - if(is_identity) - { - SetToIdentity(); - return; - } + const bool IsIdentity()const{return is_identity;} - matrix=m; - inverse_matrix=inverse(m); + const bool IsLastVersion()const{return !matrix_dirty;} - matrix_dirty=false; + inline Vector3f TransformPosition (const Vector3f &v){UpdateMatrix();return Vector3f(matrix*Vector4f(v,1.0f));} + inline Vector3f TransformDirection (const Vector3f &v){UpdateMatrix();return Vector3f(matrix*Vector4f(v,0.0f));} + inline Vector3f TransformNormal (const Vector3f &v){UpdateMatrix();return normalize(Vector3f(transpose_inverse_matrix*Vector4f(v,0.0f)));} + inline Matrix3f TransformMatrix (const Matrix3f &child){UpdateMatrix();return Matrix3f(matrix*Matrix4f(child));} + inline Matrix4f TransformMatrix (const Matrix4f &child){UpdateMatrix();return matrix*child;} - DecomposeTransform(m,translation_vector,rotation_quat,scale_vector); - - ExtractedQuat(rotation_quat,rotation_axis,rotate_angle); - } - - inline Vector3f TransformPosition(const Vector3f &v) - { - UpdateMatrix(); - return Vector3f(matrix*Vector4f(v,1.0f)); - } - - inline Vector3f TransformDirection(const Vector3f &v) - { - UpdateMatrix(); - return Vector3f(matrix*Vector4f(v,0.0f)); - } - - inline Vector3f TransformNormal(const Vector3f &v) - { - UpdateMatrix(); - return normalize(Vector3f(transpose_inverse_matrix*Vector4f(v,0.0f))); - } - - inline Matrix3f TransformMatrix(const Matrix3f &child) - { - UpdateMatrix(); - return Matrix3f(matrix*Matrix4f(child)); - } - - inline Matrix4f TransformMatrix(const Matrix4f &child) - { - UpdateMatrix(); - return matrix*child; - } + inline Vector3f InverseTransformPosition (const Vector3f &v){UpdateMatrix();return Vector3f(inverse_matrix*Vector4f(v,1.0f));} + inline Vector3f InverseTransformDirection (const Vector3f &v){UpdateMatrix();return Vector3f(inverse_matrix*Vector4f(v,0.0f));} + inline Vector3f InverseTransformNormal (const Vector3f &v){UpdateMatrix();return normalize(Vector3f(transpose_inverse_matrix*Vector4f(v,0.0f)));} + inline Matrix3f InverseTransformMatrix (const Matrix3f &child){UpdateMatrix();return Matrix3f(inverse_matrix*Matrix4f(child));} + inline Matrix4f InverseTransformMatrix (const Matrix4f &child){UpdateMatrix();return inverse_matrix*child;} inline Transform TransformTransform(const Transform &child) { @@ -328,6 +295,8 @@ namespace hgl } };//Transform + const Transform IdentityTransform; + constexpr const size_t TransformMatrix4fLength=sizeof(Transform); Transform Lerp(const Transform &from,const Transform &to,const float t); diff --git a/src/Math/Transform.cpp b/src/Math/Transform.cpp index b11942b..101e1dd 100644 --- a/src/Math/Transform.cpp +++ b/src/Math/Transform.cpp @@ -12,4 +12,121 @@ namespace hgl return result; } + + void Transform::UpdateQuat() + { + if(IsNearlyZero(rotate_angle)) + { + if(is_zero_rotate) + return; + + is_zero_rotate=true; + rotation_quat=IdentityQuatf; + return; + } + else + { + is_zero_rotate=false; + rotation_quat=RotationQuat(rotate_angle,rotation_axis); + } + + matrix_dirty=true; + } + + void Transform::UpdateMatrix() + { + if(!matrix_dirty) + return; + + if(translation_vector==ZeroVector3f + &&rotation_quat==IdentityQuatf + &&scale_vector==OneVector3f) + { + if(is_identity) //如果之前就是空的，那不更新版本号 + { + matrix_dirty=false; + return; + } + + SetToIdentity(); + } + else + { + matrix=translate(translation_vector)*ToMatrix(rotation_quat)*scale(scale_vector); + inverse_matrix=inverse(matrix); + transpose_inverse_matrix=transpose(inverse_matrix); + + is_identity=false; + } + + matrix_dirty=false; + + UpdateVersion(); + } + + void Transform::SetToIdentity() + { + is_identity=true; + is_zero_rotate=true; + + matrix=Identity4f; + inverse_matrix=Identity4f; + + matrix_dirty=false; + + translation_vector=ZeroVector3f; + rotation_quat=IdentityQuatf; + rotation_axis=ZeroVector3f; + rotate_angle=0; + scale_vector=OneVector3f; + } + + const bool Transform::operator == (const Transform &t) + { + if(is_identity) + { + if(t.is_identity) + return(true); + else + return(false); + } + else + { + if(t.is_identity) + return(false); + } + + if(translation_vector!=t.translation_vector)return(false); + if(rotation_quat!=t.rotation_quat)return(false); + if(scale_vector!=t.scale_vector)return(false); + + return(true); + } + + void Transform::SetFromMatrix4f(const Matrix4f &m) + { + if(is_identity) + { + if(IsIdentityMatrix(m)) + return; + } + + is_identity=IsIdentityMatrix(m); + + if(is_identity) + { + SetToIdentity(); + UpdateVersion(); + return; + } + + matrix=m; + inverse_matrix=inverse(m); + + matrix_dirty=false; + + DecomposeTransform(m,translation_vector,rotation_quat,scale_vector); + + ExtractedQuat(rotation_quat,rotation_axis,rotate_angle); + } }//namespace hgl