[core.trs] added trs library, note that rotations are not yet impleme…

…nted coz quaternions dont exist yet

CMakeLists.txt

@@ -38,6 +38,7 @@ topaz_add_library(
 		src/tz/core/job.cpp
 		src/tz/core/vector.cpp
 		src/tz/core/matrix.cpp
+		src/tz/core/trs.cpp
 		src/tz/gpu/rhi_vulkan.cpp
 		src/tz/os/impl_win32.cpp
 )

include/tz/core/matrix.hpp

@@ -48,13 +48,17 @@ namespace tz
 
 		// matrix-scalar
 		matrix<T, N>& operator+=(T scalar);
+		matrix<T, N> operator+(T scalar) const{auto cpy = *this; return cpy += scalar;}
 		matrix<T, N>& operator-=(T scalar);
+		matrix<T, N> operator-(T scalar) const{auto cpy = *this; return cpy -= scalar;}
 		matrix<T, N>& operator*=(T scalar);
+		matrix<T, N> operator*(T scalar) const{auto cpy = *this; return cpy *= scalar;}
 		matrix<T, N>& operator/=(T scalar);
+		matrix<T, N> operator/(T scalar) const{auto cpy = *this; return cpy /= scalar;}
 
 		// matrix-matrix
 		matrix<T, N>& operator*=(const matrix<T, N>& rhs);
-		matrix<T, N> operator*(const matrix<T, N>& rhs){auto cpy = *this; return cpy *= rhs;}
+		matrix<T, N> operator*(const matrix<T, N>& rhs) const{auto cpy = *this; return cpy *= rhs;}
 
 		bool operator==(const matrix<T, N>& rhs) const = default;
 

include/tz/core/trs.hpp

@@ -0,0 +1,25 @@
+#ifndef TOPAZ_CORE_TRS_HPP
+#define TOPAZ_CORE_TRS_HPP
+#include "tz/core/vector.hpp"
+#include "tz/core/matrix.hpp"
+
+namespace tz
+{
+	struct trs
+	{
+		tz::v3f translate = tz::v3f::zero();
+		// tz::quat rotate = tz::quat::iden();
+		tz::v3f scale = tz::v3f::filled(1.0f);
+
+		trs lerp(const trs& rhs, float factor) const;
+		m4u matrix() const;
+		static trs from_matrix(m4f mat);
+
+		trs inverse() const;
+		trs combine(const trs& rhs);
+
+		bool operator==(const trs& rhs) const = default;
+	};
+}
+
+#endif // TOPAZ_CORE_TRS_HPP

include/tz/core/vector.hpp

@@ -63,10 +63,10 @@ namespace tz
 		vector<T, N>& operator*=(const vector<T, N>& rhs);
 		vector<T, N>& operator/=(const vector<T, N>& rhs);
 
-		vector<T, N> operator+(const vector<T, N>& rhs){auto cpy = *this; return cpy += rhs;}
-		vector<T, N> operator-(const vector<T, N>& rhs){auto cpy = *this; return cpy -= rhs;}
-		vector<T, N> operator*(const vector<T, N>& rhs){auto cpy = *this; return cpy *= rhs;}
-		vector<T, N> operator/(const vector<T, N>& rhs){auto cpy = *this; return cpy /= rhs;}
+		vector<T, N> operator+(const vector<T, N>& rhs) const{auto cpy = *this; return cpy += rhs;}
+		vector<T, N> operator-(const vector<T, N>& rhs) const{auto cpy = *this; return cpy -= rhs;}
+		vector<T, N> operator*(const vector<T, N>& rhs) const{auto cpy = *this; return cpy *= rhs;}
+		vector<T, N> operator/(const vector<T, N>& rhs) const{auto cpy = *this; return cpy /= rhs;}
 
 		bool operator==(const vector<T, N>& rhs) const = default;
 	private:

src/tz/core/trs.cpp

@@ -0,0 +1,67 @@
+#include "tz/core/trs.hpp"
+#include "tz/topaz.hpp"
+
+namespace tz
+{
+	trs trs::lerp(const trs& rhs, float factor) const
+	{
+		trs ret;
+		ret.translate = this->translate + (rhs.translate - this->translate) * factor;
+		//ret.rotate = this->rotate.slerp(rhs.rotate, factor);
+		ret.scale = this->scale + ((rhs.scale - this->scale) * factor);
+		return ret;
+	}
+
+	tz::m4u trs::matrix() const
+	{
+		tz_error("trs -> matrix is NYI");
+		return {};
+	}
+
+	trs trs::from_matrix(tz::m4f mat)
+	{
+		// decompose matrix -> trs using:https://github.com/KhronosGroup/glTF-Validator/issues/33 
+		//If M[3] != 0.0 || M[7] != 0.0 || M[11] != 0.0 || M[15] != 1.0,
+		// matrix is indecomposable, exit.
+
+		/*
+		0 4 8  12
+		1 5 9  13
+		2 6 10 14
+		3 7 11 15
+		*/
+		trs ret;
+		ret.translate = {mat(3, 0), mat(3, 1), mat(3, 2)};
+		ret.scale[0] = std::sqrt(mat(0, 0) * mat(0, 0) + mat(1, 0) * mat(1, 0) + mat(2, 0) * mat(2, 0));
+		ret.scale[1] = std::sqrt(mat(0, 1) * mat(0, 1) + mat(1, 1) * mat(1, 1) + mat(2, 1) * mat(2, 1));
+		ret.scale[2] = std::sqrt(mat(0, 2) * mat(0, 2) + mat(1, 2) * mat(1, 2) + mat(2, 2) * mat(2, 2));
+
+		float isx = 1.0f / ret.scale[0];
+		float isy = 1.0f / ret.scale[1];
+		float isz = 1.0f / ret.scale[2];
+
+		// remove scaling from matrix
+		mat(0, 0) *= isx; mat(1, 0) *= isx; mat(1, 0) *= isx;
+		mat(0, 1) *= isy; mat(1, 1) *= isy; mat(2, 1) *= isy;
+		mat(0, 2) *= isz; mat(1, 2) *= isz; mat(2, 2) *= isz;
+
+		// Construct the quaternion. This algo is copied from here:
+		// https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/christian.htm.
+		/*
+		ret.rotate[3] = std::max(0.0f, 1.0f + mat(0, 0) + mat(1, 1) + mat(2, 2));
+		ret.rotate[0] = std::max(0.0f, 1.0f + mat(0, 0) - mat(1, 1) - mat(2, 2));
+		ret.rotate[1] = std::max(0.0f, 1.0f - mat(0, 0) + mat(1, 1) - mat(2, 2));
+		ret.rotate[2] = std::max(0.0f, 1.0f - mat(0, 0) - mat(1, 1) - mat(2, 2));
+		for(std::size_t i = 0; i < 4; i++)
+		{
+			ret.rotate[i] = std::sqrt(ret.rotate[i] * 0.5f);
+		}
+		ret.rotate[0] = std::copysignf(ret.rotate[0], mat(1, 2) - mat(2, 1));
+		ret.rotate[1] = std::copysignf(ret.rotate[1], mat(2, 0) - mat(0, 2));
+		ret.rotate[2] = std::copysignf(ret.rotate[2], mat(0, 1) - mat(1, 0));
+		*/
+		return ret;
+	}
+
+
+}