/**
* Calculates the product of this transform with the given "transformBy" transform (P = this * T)
* and stores this in store.
*
* @param transformBy
* @return the product
* @throws NullPointerException if transformBy is null.
*/
public CCTransform multiply(final CCTransform transformBy, CCTransform theStore) {
if (theStore == null) theStore = new CCTransform();
if (_myIsIdentity) {
return theStore.set(transformBy);
}
if (transformBy.isIdentity()) {
return theStore.set(this);
}
if (_myIsRotationMatrix && transformBy.isRotationMatrix() && _myIsUniformScale) {
theStore._myIsRotationMatrix = true;
theStore._myMatrix.set(_myMatrix).multiplyLocal(transformBy.getMatrix());
theStore._myTranslation.set(transformBy.translation());
theStore._myTranslation.set(_myMatrix.applyPost(theStore._myTranslation));
// uniform scale, so just use X.
theStore._myTranslation.multiplyLocal(_myScale.x);
theStore._myTranslation.addLocal(_myTranslation);
if (transformBy.isUniformScale()) {
theStore.scale(_myScale.x * transformBy.scale().x);
} else {
final CCVector3 scale = theStore._myScale.set(transformBy.scale());
scale.multiplyLocal(_myScale.x);
}
// update our flags in one place.
theStore.updateFlags(true);
return theStore;
}
// In all remaining cases, the matrix cannot be written as R*S*X+T.
final CCMatrix3x3 matrixA =
isRotationMatrix() ? _myMatrix.multiplyDiagonalPost(_myScale) : _myMatrix;
final CCMatrix3x3 matrixB =
transformBy.isRotationMatrix()
? transformBy.getMatrix().multiplyDiagonalPost(transformBy.scale())
: transformBy.getMatrix();
final CCMatrix3x3 newMatrix = theStore._myMatrix;
newMatrix.set(matrixA).multiplyLocal(matrixB);
theStore._myTranslation.set(
matrixA.applyPost(transformBy.translation()).addLocal(translation()));
// prevent scale bleeding since we don't set it.
theStore._myScale.set(1.0f, 1.0f, 1.0f);
// update our flags in one place.
theStore.updateFlags(false);
return theStore;
}
/**
* Calculates the inverse of this transform.
*
* @return the inverted transform
*/
public CCTransform invert() {
CCTransform result = new CCTransform();
if (_myIsIdentity) {
result.setIdentity();
return result;
}
result._myMatrix.set(_myMatrix);
if (_myIsRotationMatrix) {
if (_myIsUniformScale) {
final double sx = _myScale.x;
result._myMatrix.transposeLocal();
if (sx != 1.0) {
result._myMatrix.multiplyLocal(1.0f / sx);
}
} else {
result._myMatrix.set(result._myMatrix.multiplyDiagonalPost(_myScale).invertLocal());
}
} else {
result._myMatrix.invertLocal();
}
result._myTranslation.set(result._myMatrix.applyPost(_myTranslation).negateLocal());
result.updateFlags(_myIsRotationMatrix);
return result;
}
/**
* Reads in a 4x4 matrix as a 3x3 matrix and translation.
*
* @param matrix
* @return this matrix for chaining.
* @throws NullPointerException if matrix is null.
*/
public CCTransform fromHomogeneousMatrix(final CCMatrix4x4 matrix) {
_myMatrix.set(
matrix.m00,
matrix.m10,
matrix.m20,
matrix.m01,
matrix.m11,
matrix.m21,
matrix.m02,
matrix.m12,
matrix.m22);
_myTranslation.set(matrix.m03, matrix.m13, matrix.m23);
updateFlags(false);
return this;
}
public void rotate(
final double theAngle, final double theX, final double theY, final double theZ) {
_myMatrix.applyRotation(theAngle, theX, theY, theZ);
updateFlags(true);
// rotation(new CCQuaternion().applyRotation(theAngle, theX, theY, theZ));
}
public void rotation(final double theAngle, final CCVector3 theAxis) {
_myMatrix.fromAngleNormalAxis(theAngle, theAxis);
updateFlags(true);
// rotation(new CCQuaternion().applyRotation(theAngle, theAxis.x, theAxis.y, theAxis.z));
}
/**
* Sets the matrix portion of this transform to the rotational value of the given Quaternion.
* Calling this allows scale to be set and used.
*
* @param theRotation
* @return this transform for chaining.
* @throws NullPointerException if rotation is null.
*/
public CCTransform rotation(final CCQuaternion theRotation) {
_myMatrix.set(theRotation);
updateFlags(true);
return this;
}
/**
* Sets the matrix portion of this transform to the given value.
*
* <p>NB: Calling this with a matrix that is not purely rotational (orthonormal) will result in a
* Transform whose scale comes from its matrix. Further attempts to set scale directly will throw
* an error.
*
* @param theRotation our new matrix.
* @return this transform for chaining.
* @throws NullPointerException if rotation is null.
* @see CCMatrix3x3#isOrthonormal()
*/
public CCTransform rotation(final CCMatrix3x3 theRotation) {
_myMatrix.set(theRotation);
updateFlags(false);
return this;
}
