void CoordinateFrame::pointToWorldSpace(const Array<Vector3>& v, Array<Vector3>& vout) const {
vout.resize(v.size());
for (int i = 0; i < v.size(); ++i) {
vout[i] = pointToWorldSpace(v[i]);
}
}
Ray CoordinateFrame::toWorldSpace(const Ray& r) const
{
Ray ray;
ray.setOrigin(pointToWorldSpace(r.getOrigin()));
ray.setDirection(vectorToWorldSpace(r.getDirection()));
return ray;
}
Box CoordinateFrame::toWorldSpace(const Box& b) const {
Box out(b);
for (int i = 0; i < 8; ++i) {
out._corner[i] = pointToWorldSpace(b._corner[i]);
debugAssert(! isNaN(out._corner[i].x));
}
for (int i = 0; i < 3; ++i) {
out._axis[i] = vectorToWorldSpace(b._axis[i]);
}
out._center = pointToWorldSpace(b._center);
return out;
}
Plane CoordinateFrame::toWorldSpace(const Plane& p) const {
Vector3 N, P;
double d;
p.getEquation(N, d);
P = N * (float)d;
P = pointToWorldSpace(P);
N = normalToWorldSpace(N);
return Plane(N, P);
}
Box CoordinateFrame::toWorldSpace(const Box& b) const {
if(!b.isFinite()) {
return b;
}
Box out(b);
out._center = pointToWorldSpace(b._center);
for (int i = 0; i < 3; ++i) {
out._edgeVector[i] = vectorToWorldSpace(out._edgeVector[i]);
}
out._area = b._area;
out._volume = b._volume;
return out;
}
Ray CoordinateFrame::toWorldSpace(const Ray& r) const {
return Ray::fromOriginAndDirection(pointToWorldSpace(r.origin()), vectorToWorldSpace(r.direction()));
}
Sphere CoordinateFrame::toWorldSpace(const Sphere &b) const {
return Sphere(pointToWorldSpace(b.center), b.radius);
}
Capsule CoordinateFrame::toWorldSpace(const Capsule& c) const {
return Capsule(
pointToWorldSpace(c.point(0)),
pointToWorldSpace(c.point(1)),
c.radius());
}
Cylinder CoordinateFrame::toWorldSpace(const Cylinder& c) const {
return Cylinder(
pointToWorldSpace(c.point(0)),
pointToWorldSpace(c.point(1)),
c.radius());
}
Triangle CoordinateFrame::toWorldSpace(const Triangle& t) const {
return Triangle(pointToWorldSpace(t.vertex(0)),
pointToWorldSpace(t.vertex(1)),
pointToWorldSpace(t.vertex(2)));
}