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convert transform to affine matrix

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This commit is contained in:
Irlan 2018-09-23 13:20:57 -03:00
parent cd17583f63
commit e2a9084df1
1 changed files with 11 additions and 0 deletions
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11
include/bounce/common/math/transform.h
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@ -20,6 +20,7 @@
#define B3_TRANSFORM_H
#include <bounce/common/math/mat33.h>
#include <bounce/common/math/mat44.h>
#include <bounce/common/math/quat.h>
// A transform represents a rigid frame.
@ -59,6 +60,16 @@ struct b3Transform
// Identity transformation
extern const b3Transform b3Transform_identity;
// Convert a transform to a 4-by-4 transformation matrix.
inline b3Mat44 b3TransformMat44(const b3Transform& T)
{
return b3Mat44(
b3Vec4(T.rotation.x.x, T.rotation.x.y, T.rotation.x.z, 0.0f),
b3Vec4(T.rotation.y.x, T.rotation.y.y, T.rotation.y.z, 0.0f),
b3Vec4(T.rotation.z.x, T.rotation.z.y, T.rotation.z.z, 0.0f),
b3Vec4(T.position.x, T.position.y, T.position.z, 1.0f));
}
// Multiply a transform times a vector.
inline b3Vec3 b3Mul(const b3Transform& T, const b3Vec3& v)
{