void AABB::TransformAsAABB(const float3x4 &transform)
{
assume(transform.IsColOrthogonal());
assume(transform.HasUniformScale());
AABBTransformAsAABB(*this, transform);
}
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 Quat::Set(const float3x4 &m)
{
assume(m.IsColOrthogonal());
assume(m.HasUnitaryScale());
assume(!m.HasNegativeScale());
SetQuatFrom(*this, m);
#ifdef MATH_ASSERT_CORRECTNESS
// Test that the conversion float3x3->Quat->float3x3 is correct.
mathassert(this->ToFloat3x3().Equals(m.Float3x3Part(), 0.01f));
#endif
}
void Placeable::SetWorldTransform(const float3x4 &tm)
{
assume(tm.IsColOrthogonal());
assume(!tm.HasNegativeScale());
if (!parentPlaceable_) // No parent, the local->parent transform equals the local->world transform.
{
SetTransform(tm);
return;
}
float3x4 parentWorldTransform = parentPlaceable_->LocalToWorld();
bool success = parentWorldTransform.Inverse();
if (!success)
{
if (parentEntity)
LogError("Parent for entity " + parentEntity->ToString() + " has an invalid world transform!");
else
LogError("Parent for a detached entity has an invalid world transform!");
return;
}
SetTransform(parentWorldTransform * tm);
}
void OBB::Transform(const float3x4 &transform)
{
assume(transform.IsColOrthogonal());
OBBTransform(*this, transform);
}
void Placeable::SetTransform(const float3x4 &tm)
{
assume(tm.IsColOrthogonal());
assume(!tm.HasNegativeScale());
transform.Set(Transform(tm), AttributeChange::Default);
}
