Implementing basic scene tree

src/Engine/Math/Transform.cpp

@@ -0,0 +1,84 @@
+#include "Transform.h"
+
+using namespace Seele;
+
+Transform::Transform()
+    : position(Vector4(0, 0, 0, 0)), rotation(Quaternion(0, 0, 0, 0)), scale(Vector4(1, 1, 1, 0))
+{
+}
+
+Transform::Transform(Vector position)
+    : position(Vector4(position, 0)), rotation(Quaternion(0, 0, 0, 0)), scale(Vector4(1, 1, 1, 0))
+{
+}
+Transform::Transform(Vector position, Quaternion rotation)
+    : position(Vector4(position, 0)), rotation(rotation), scale(Vector4(1, 1, 1, 0))
+{
+}
+Transform::Transform(Vector position, Quaternion rotation, Vector scale)
+    : position(Vector4(position, 0)), rotation(rotation), scale(Vector4(scale, 0))
+{
+}
+Transform::Transform(Quaternion rotation, Vector scale)
+    : position(Vector4(0, 0, 0, 0)), rotation(rotation), scale(Vector4(scale, 0))
+{
+}
+Transform::~Transform()
+{
+}
+Vector Transform::inverseTransformPosition(const Vector& v) const
+{
+    return (unrotateVector(rotation, v - Vector(position))) * getSafeScaleReciprocal(scale);
+}
+
+Vector Transform::getSafeScaleReciprocal(const Vector4& inScale, float tolerance) 
+{
+    Vector safeReciprocalScale;
+    if (abs(inScale.x) <= tolerance)
+    {
+        safeReciprocalScale.x = 0.f;
+    }
+    else
+    {
+        safeReciprocalScale.x = 1 / inScale.x;
+    }
+    if (abs(inScale.y) <= tolerance)
+    {
+        safeReciprocalScale.y = 0.f;
+    }
+    else
+    {
+        safeReciprocalScale.y = 1 / inScale.y;
+    }
+    if (abs(inScale.z) <= tolerance)
+    {
+        safeReciprocalScale.z = 0.f;
+    }
+    else
+    {
+        safeReciprocalScale.z = 1 / inScale.z;
+    }
+    return safeReciprocalScale;
+}
+
+inline Vector Transform::getPosition() const
+{
+    return Vector(position);
+}
+
+inline Quaternion Transform::getRotation() const
+{
+    return rotation;
+}
+
+inline Vector Transform::getScale() const
+{
+    return Vector(scale);
+}
+
+inline void Transform::multiply(Transform* outTransform, const Transform* a, const Transform* b) 
+{
+    outTransform->rotation = b->rotation * a->rotation;
+    outTransform->position = b->position * (b->scale * a->position) + b->position;
+    outTransform->scale = b->scale * a->scale;
+}