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fix: Transform->matrix conversion is now (more) correct

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Sara 2024-09-17 12:46:23 +02:00
parent c74c006ae2
commit 0661622b9c
4 changed files with 18 additions and 25 deletions
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9
src/core/transformable.c
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@ -1,4 +1,5 @@
#include "transformable.h"
#include "utils/debug.h"
Transform TransformIdentity() {
return (Transform){
@ -8,14 +9,10 @@ Transform TransformIdentity() {
};
}
Matrix TransformGetMatrix(Transform self) {
Matrix mat = MatrixScale(self.scale.x, self.scale.y, self.scale.z);
mat = MatrixMultiply(mat, QuaternionToMatrix(self.rotation));
mat.m12 = self.translation.x;
mat.m13 = self.translation.y;
mat.m14 = self.translation.z;
return mat;
return MatrixMultiply(mat, MatrixTranslate(self.translation.x, self.translation.y, self.translation.z));
}
Vector3 TransformPosition(Transform self, Vector3 local_pos) {
@ -61,7 +58,7 @@ Vector3 InverseTransformScale(Transform self, Vector3 global_scale) {
}
Quaternion InverseTransformRotation(Transform self, Quaternion global_rotation) {
return QuaternionMultiply(QuaternionInvert(self.rotation), global_rotation);
return QuaternionDivide(self.rotation, global_rotation);
}
Transform InverseTransformTransform(Transform self, Transform other) {

4
src/core/transformable.h
View file

@ -42,8 +42,8 @@ extern Vector3 InverseTransformScale(Transform self, Vector3 global_scale);
extern Quaternion InverseTransformRotation(Transform self, Quaternion quat);
extern Transform InverseTransformTransform(Transform self, Transform other);
#define MATRIX_UP(self_) ((Vector3){self_.m0, self_.m1, self_.m2})
#define MATRIX_RIGHT(self_) ((Vector3){self_.m4, self_.m5, self_.m6})
#define MATRIX_RIGHT(self_) ((Vector3){self_.m0, self_.m1, self_.m2})
#define MATRIX_UP(self_) ((Vector3){self_.m4, self_.m5, self_.m6})
#define MATRIX_FORWARD(self_) ((Vector3){self_.m8, self_.m9, self_.m10})
#define VECTOR3_RIGHT ((Vector3){1.f, 0.f, 0.f})

21
src/main.c
View file

@ -10,26 +10,19 @@
Scene *CreateInitialScene() {
SceneNode *root = CreateTransformNode();
SceneNode *camera_parent_parent = CreateTransformNode();
// create parent of camera parent to test transform hierarchy
Transformable transformable = TC_CAST(camera_parent_parent->entity, Transformable);
Transform transform = transformable.tc->get_transform(transformable.data);
transform.translation = (Vector3){10.f, 0.f, 0.f};
transform.rotation = QuaternionFromEuler(0.f, -10.f * DEG2RAD, 0.f);
transformable.tc->set_transform(transformable.data, transform);
// create camera with a transform parent
SceneNodeAddChild(root, camera_parent_parent);
SceneNode *camera_parent = CreateTransformNode();
// set camera parent location
transformable = TC_CAST(camera_parent->entity, Transformable);
transform = transformable.tc->get_transform(transformable.data);
Transformable transformable = TC_CAST(camera_parent->entity, Transformable);
Transform transform = transformable.tc->get_transform(transformable.data);
transform.translation = (Vector3){0.f, 10.f, -10.f};
transform.rotation = QuaternionFromEuler(45.f * DEG2RAD, 0.f, 0.f);
transformable.tc->set_transform(transformable.data, transform);
SceneNodeAddChild(camera_parent_parent, camera_parent);
SceneNodeAddChild(camera_parent, CreateCameraNode());
SceneNodeAddChild(camera_parent, CreateTestObject());
SceneNodeAddChild(root, CreateMeshRenderEntity("spacefighter.glb"));
SceneNode *model_parent = CreateTransformNode();
SceneNodeAddChild(root, model_parent);
SceneNodeAddChild(model_parent, camera_parent);
SceneNodeAddChild(model_parent, CreateMeshRenderEntity("spacefighter.glb"));
SceneNodeAddChild(model_parent, CreateTestObject());
return CreateScene(root);
}

9
src/test_object.c
View file

@ -44,7 +44,10 @@ void TestObjectDraw(TestObject *self) {
}
void TestObjectTick(TestObject *self, double delta) {
Transform local_transform = self->transform.tc->get_transform(self->transform.data);
local_transform.rotation = QuaternionMultiply(QuaternionFromEuler(0.f, 0.01f, 0.f), local_transform.rotation);
self->transform.tc->set_transform(self->transform.data, local_transform);
Transform global_transform = self->transform.tc->get_global_transform(self->transform.data);
Matrix global_matrix = TransformGetMatrix(global_transform);
global_transform.rotation = QuaternionMultiply(global_transform.rotation, QuaternionFromAxisAngle(MATRIX_UP(global_matrix), 0.01f));
global_matrix = TransformGetMatrix(global_transform);
global_transform.translation = Vector3Add(global_transform.translation, Vector3Scale(MATRIX_FORWARD(global_matrix), 0.1f));
self->transform.tc->set_global_transform(self->transform.data, global_transform);
}