std::ostream& base::operator<<(std::ostream& out, const Transform& t)
{
if (t.identity()) {
out << "T:" << Matrix4();
}
else {
if (t.isTransRotationOnly()) {
out << "r:" << t.getRotation() << " t:" << t.getTranslation();
}
else
out << "T:" << t.getTransform();
}
return out;
}
Matrix4 Transform::getTransform() const
{
if (isIdentity)
return Matrix4();
if (isPureTranslationRotation) {
Matrix4 tm;
if (hasRotation)
tm = orient.getQuat4();
if (hasTranslation)
tm.setTranslationComponent(trans);
return tm;
}
else
return t;
}
Transform& Transform::invert()
{
if (isIdentity) return *this;
if (!isPureTranslationRotation)
t.invert();
else {
if (!hasTranslation)
orient.invert();
else {
if (!hasRotation)
trans = -trans;
else {
t = getTransform();
t.invert();
isPureTranslationRotation = false;
hasTranslation = hasRotation = true;
isIdentity = (t.equals(Matrix4(1)));
}
}
}
return *this;
}