void Frustum::SetWorldMatrix(const float3x4 &worldTransform)
{
pos = worldTransform.TranslatePart();
if (handedness == FrustumRightHanded)
front = -worldTransform.Col(2); // The camera looks towards -Z axis of the given transform.
else
front = worldTransform.Col(2); // The camera looks towards +Z axis of the given transform.
up = worldTransform.Col(1); // The camera up points towards +Y of the given transform.
assume(pos.IsFinite());
assume(front.IsNormalized());
assume(up.IsNormalized());
assume(worldTransform.IsColOrthogonal3()); // Front and up must be orthogonal to each other.
assume(EqualAbs(worldTransform.Determinant(), 1.f)); // The matrix cannot contain mirroring.
}
void Capsule::Transform(const float3x4 &transform)
{
assume(transform.HasUniformScale());
assume(transform.IsColOrthogonal());
l.Transform(transform);
r *= transform.Col(0).Length(); // Scale the radius.
}
void Circle::Transform(const float3x4 &transform)
{
assume(transform.HasUniformScale());
assume(transform.IsColOrthogonal());
pos = transform.MulPos(pos);
normal = transform.MulDir(normal).Normalized();
r *= transform.Col(0).Length(); // Scale the radius of the circle.
}
void Sphere::Transform(const float3x4 &transform)
{
assume(transform.HasUniformScale());
pos = transform.MulPos(pos);
r *= transform.Col(0).Length();
}
void GraphicsWorld::DebugDrawFloat3x4(const float3x4 &t, float axisLength, float boxSize, const Color &clr, bool depthTest)
{
AABB aabb(float3::FromScalar(-boxSize/2.f), float3::FromScalar(boxSize/2.f));
OBB obb = aabb.Transform(t);
DebugDrawOBB(obb, clr);
DebugDrawLineSegment(LineSegment(t.TranslatePart(), t.TranslatePart() + axisLength * t.Col(0)), 1, 0, 0, depthTest);
DebugDrawLineSegment(LineSegment(t.TranslatePart(), t.TranslatePart() + axisLength * t.Col(1)), 0, 1, 0, depthTest);
DebugDrawLineSegment(LineSegment(t.TranslatePart(), t.TranslatePart() + axisLength * t.Col(2)), 0, 0, 1, depthTest);
}
