qtk/src/transform3D.cpp

/*##############################################################################
## Author: Shaun Reed                                                         ##
## Legal: All Content (c) 2022 Shaun Reed, all rights reserved                ##
## About: Transform3D class to represent object position in 3D space          ##
##        From following tutorials at trentreed.net                           ##
##                                                                            ##
## Contact: shaunrd0@gmail.com	| URL: www.shaunreed.com | GitHub: shaunrd0   ##
##############################################################################*/

#include <transform3D.h>


const QVector3D Transform3D::LocalForward(0.0f, 0.0f, 1.0f);
const QVector3D Transform3D::LocalUp(0.0f, 1.0f, 0.0f);
const QVector3D Transform3D::LocalRight(1.0f, 0.0f, 0.0f);

/*******************************************************************************
 * Transformations
 ******************************************************************************/

void Transform3D::translate(const QVector3D & dt)
{
  m_dirty = true;
  mTranslation += dt;
}

void Transform3D::scale(const QVector3D & ds)
{
  m_dirty = true;
  mScale *= ds;
}

void Transform3D::rotate(const QQuaternion & dr)
{
  m_dirty = true;
  mRotation = dr * mRotation;
}

void Transform3D::grow(const QVector3D & ds)
{
  m_dirty = true;
  mScale += ds;
}


/*******************************************************************************
 * Setters
 ******************************************************************************/

void Transform3D::setTranslation(const QVector3D & t)
{
  m_dirty = true;
  mTranslation = t;
}

void Transform3D::setScale(const QVector3D & s)
{
  m_dirty = true;
  mScale = s;
}

void Transform3D::setRotation(const QQuaternion & r)
{
  m_dirty = true;
  mRotation = r;
}


/*******************************************************************************
 * Accessors
 ******************************************************************************/

// Produces modelToWorld matrix using current set of transformations
// Transformation * rotation * scale = modelToWorld
const QMatrix4x4 & Transform3D::toMatrix()
{
  if (m_dirty)
  {
    m_dirty = false;
    mWorld.setToIdentity();
    mWorld.translate(mTranslation);
    mWorld.rotate(mRotation);
    mWorld.scale(mScale);
  }
  return mWorld;
}


/*******************************************************************************
 * Queries
 ******************************************************************************/

QVector3D Transform3D::forward() const
{
  return mRotation.rotatedVector(LocalForward);
}

QVector3D Transform3D::up() const
{
  return mRotation.rotatedVector(LocalUp);
}

QVector3D Transform3D::right() const
{
  return mRotation.rotatedVector(LocalRight);
}


/*******************************************************************************
 * QT Streams
 ******************************************************************************/

QDebug operator<<(QDebug dbg, const Transform3D & transform)
{
  dbg << "Transform3D\n{\n";
  dbg << "Position: <" << transform.translation().x() << ", "
      << transform.translation().y() << ", "
      << transform.translation().z() << ">\n";
  dbg << "Scale: <" << transform.scale().x() << ", "
      << transform.scale().y() << ", "
      << transform.scale().z() << ">\n";
  dbg << "Rotation: <" << transform.rotation().x() << ", "
      << transform.rotation().y() << ", "
      << transform.rotation().z() << " | " <<
      transform.rotation().scalar() << ">\n}";
  return dbg;
}

QDataStream & operator<<(QDataStream & out, const Transform3D & transform)
{
  out << transform.mTranslation;
  out << transform.mScale;
  out << transform.mRotation;
  return out;
}

QDataStream & operator>>(QDataStream & in, Transform3D & transform)
{
  in >> transform.mTranslation;
  in >> transform.mScale;
  in >> transform.mRotation;
  transform.m_dirty = true;
  return in;
}