Matrix44F BaseTransform::space() const
{
Matrix44F s;
s.setTranslation(m_translation);
Matrix33F r = orientation();
s.translate(m_rotatePivotTranslate);
s.translate(m_rotatePivot);
s.translate(r.transform(m_rotatePivot.reversed()));
s.translate(r.transform(m_scalePivotTranslate));
s.translate(r.transform(m_scalePivot));
Vector3F displaceByScaling = m_scalePivot.reversed();
displaceByScaling = displaceByScaling * m_scale;
s.translate(r.transform(displaceByScaling));
Matrix33F scaleMatrix;
*scaleMatrix.m(0, 0) = m_scale.x;
*scaleMatrix.m(1, 1) = m_scale.y;
*scaleMatrix.m(2, 2) = m_scale.z;
r = scaleMatrix * r;
s.setRotation(r);
return s;
}
Matrix33F Matrix44F::rotation() const
{
Matrix33F r;
*r.m(0, 0) = M(0, 0);
*r.m(0, 1) = M(0, 1);
*r.m(0, 2) = M(0, 2);
*r.m(1, 0) = M(1, 0);
*r.m(1, 1) = M(1, 1);
*r.m(1, 2) = M(1, 2);
*r.m(2, 0) = M(2, 0);
*r.m(2, 1) = M(2, 1);
*r.m(2, 2) = M(2, 2);
return r;
}