C++ Mat4::getInversed方法代码示例

float Camera::getDepthInView(const Mat4& transform) const
{
    Mat4 camWorldMat = getNodeToWorldTransform();
    const Mat4 &viewMat = camWorldMat.getInversed();
    float depth = -(viewMat.m[2] * transform.m[12] + viewMat.m[6] * transform.m[13] + viewMat.m[10] * transform.m[14] + viewMat.m[14]);
    return depth;
}

void PhysicsBody::beforeSimulation(const Mat4& parentToWorldTransform, const Mat4& nodeToWorldTransform, float scaleX, float scaleY, float rotation)
{
    if (_recordScaleX != scaleX || _recordScaleY != scaleY)
    {
        _recordScaleX = scaleX;
        _recordScaleY = scaleY;
        setScale(scaleX, scaleY);
    }

    // set rotation
    if (_recordedRotation != rotation)
    {
        setRotation(rotation);
    }

    // set position
    auto worldPosition = _ownerCenterOffset;
    nodeToWorldTransform.transformVector(worldPosition.x, worldPosition.y, worldPosition.z, 1.f, &worldPosition);
    setPosition(worldPosition.x, worldPosition.y);

    _recordPosX = worldPosition.x;
    _recordPosY = worldPosition.y;

    if (_owner->getAnchorPoint() != Vec2::ANCHOR_MIDDLE)
    {
        parentToWorldTransform.getInversed().transformVector(worldPosition.x, worldPosition.y, worldPosition.z, 1.f, &worldPosition);
        _offset.x = worldPosition.x - _owner->getPositionX();
        _offset.y = worldPosition.y - _owner->getPositionY();
    }
}

bool Ray::intersects(const OBB& obb) const
{
    AABB aabb;
    aabb._min = - obb._extents;
    aabb._max = obb._extents;

    Ray ray;
    ray._direction = _direction;
    ray._origin = _origin;

    Mat4 mat = Mat4::IDENTITY;
    mat.m[0] = obb._xAxis.x;
    mat.m[1] = obb._xAxis.y;
    mat.m[2] = obb._xAxis.z;

    mat.m[4] = obb._yAxis.x;
    mat.m[5] = obb._yAxis.y;
    mat.m[6] = obb._yAxis.z;

    mat.m[8] = obb._zAxis.x;
    mat.m[9] = obb._zAxis.y;
    mat.m[10] = obb._zAxis.z;

    mat.m[12] = obb._center.x;
    mat.m[13] = obb._center.y;
    mat.m[14] = obb._center.z;

    mat = mat.getInversed();

    ray.transform(mat);

    return ray.intersects(aabb);
}

void Physics3DComponent::syncPhysicsToNode()
{
    if (_physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::RIGID_BODY
     || _physics3DObj->getObjType() == Physics3DObject::PhysicsObjType::COLLIDER)
    {
        Mat4 parentMat;
        if (_owner->getParent())
            parentMat = _owner->getParent()->getNodeToWorldTransform();
        
        auto mat = parentMat.getInversed() * _physics3DObj->getWorldTransform();
        //remove scale, no scale support for physics
        float oneOverLen = 1.f / sqrtf(mat.m[0] * mat.m[0] + mat.m[1] * mat.m[1] + mat.m[2] * mat.m[2]);
        mat.m[0] *= oneOverLen;
        mat.m[1] *= oneOverLen;
        mat.m[2] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[4] * mat.m[4] + mat.m[5] * mat.m[5] + mat.m[6] * mat.m[6]);
        mat.m[4] *= oneOverLen;
        mat.m[5] *= oneOverLen;
        mat.m[6] *= oneOverLen;
        oneOverLen = 1.f / sqrtf(mat.m[8] * mat.m[8] + mat.m[9] * mat.m[9] + mat.m[10] * mat.m[10]);
        mat.m[8] *= oneOverLen;
        mat.m[9] *= oneOverLen;
        mat.m[10] *= oneOverLen;
        
        mat *= _transformInPhysics;
        static Vec3 scale, translation;
        static Quaternion quat;
        mat.decompose(&scale, &quat, &translation);
        _owner->setPosition3D(translation);
        quat.normalize();
        _owner->setRotationQuat(quat);
    }
}

void PhysicsBody::afterSimulation(const Mat4& parentToWorldTransform, float parentRotation)
{
    // set Node position   
    auto tmp = getPosition();
    Vec3 positionInParent(tmp.x, tmp.y, 0.f);
    if (_recordPosX != positionInParent.x || _recordPosY != positionInParent.y)
    {
        parentToWorldTransform.getInversed().transformVector(positionInParent.x, positionInParent.y, positionInParent.z, 1.f, &positionInParent);
        _owner->setPosition(positionInParent.x - _offset.x, positionInParent.y - _offset.y);
    }

    // set Node rotation
    _owner->setRotation(getRotation() - parentRotation);
}

Vec2 Director::convertToGL(const Vec2& uiPoint)
{
    Mat4 transform;
    GLToClipTransform(&transform);

    Mat4 transformInv = transform.getInversed();

    // Calculate z=0 using -> transform*[0, 0, 0, 1]/w
    float zClip = transform.m[14] / transform.m[15];

    Size glSize = _openGLView->getDesignResolutionSize();
    Vec4 clipCoord(2.0f*uiPoint.x / glSize.width - 1.0f, 1.0f - 2.0f*uiPoint.y / glSize.height, zClip, 1);

    Vec4 glCoord;
    //transformInv.transformPoint(clipCoord, &glCoord);
    transformInv.transformVector(clipCoord, &glCoord);
    float factor = 1.0 / glCoord.w;
    return Vec2(glCoord.x * factor, glCoord.y * factor);
}

void Sprite3DWithOBBPerfromanceTest::unproject(const Mat4& viewProjection, const Size* viewport, Vec3* src, Vec3* dst)
{
    assert(dst);
    
    assert(viewport->width != 0.0f && viewport->height != 0.0f);
    Vec4 screen(src->x / viewport->width, ((viewport->height - src->y)) / viewport->height, src->z, 1.0f);
    
    screen.x = screen.x * 2.0f - 1.0f;
    screen.y = screen.y * 2.0f - 1.0f;
    screen.z = screen.z * 2.0f - 1.0f;
    
    viewProjection.getInversed().transformVector(screen, &screen);
    
    if (screen.w != 0.0f)
    {
        screen.x /= screen.w;
        screen.y /= screen.w;
        screen.z /= screen.w;
    }
    
    dst->set(screen.x, screen.y, screen.z);
}