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raycasting 1st attempt

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devZoGok
2021-10-19 19:06:40 +03:00
parent 3d1a10be0e
commit 169d5755ce
8 changed files with 152 additions and 2 deletions
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node.cpp
+55
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@@ -120,4 +120,59 @@ namespace vb01{
descendants.push_back(node->getChild(i));
}
}
Node::Transform Node::getWorldTransform(){
Transform t;
Vector3 scale=Vector3::VEC_IJK;
Quaternion orient=Quaternion::QUAT_W;
Vector3 origin=Vector3::VEC_ZERO,axis[]={Vector3::VEC_I,Vector3::VEC_J,Vector3::VEC_K};
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
while(!ancestors.empty()){
int id=ancestors.size()-1;
Quaternion o=ancestors[id]->getOrientation();
Vector3 p=ancestors[id]->getPosition(),s=ancestors[id]->getScale();
origin=origin+axis[0]*p.x*s.x+axis[1]*p.y*s.y+axis[2]*p.z*s.z;
orient=o*orient;
scale=s;
for(int i=0;i<3;i++)
axis[i]=orient*axis[i];
ancestors.pop_back();
}
t.position=origin,t.orientation=orient,t.scale=scale;
return t;
}
Vector3 Node::getLocalAxis(int i){
Transform t;
Vector3 pos=Vector3::VEC_ZERO,scale=Vector3::VEC_IJK;
Quaternion orient=Quaternion::QUAT_W;
Vector3 origin=Vector3::VEC_ZERO,axis[]={Vector3::VEC_I,Vector3::VEC_J,Vector3::VEC_K};
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
while(!ancestors.empty()){
int id=ancestors.size()-1;
Quaternion o=ancestors[id]->getOrientation();
Vector3 p=ancestors[id]->getPosition(),s=ancestors[id]->getScale();
origin=origin+axis[0]*p.x*s.x+axis[1]*p.y*s.y+axis[2]*p.z*s.z;
orient=o*orient;
scale=s;
for(int i=0;i<3;i++)
axis[i]=orient*axis[i];
ancestors.pop_back();
}
return axis[i];
}
}