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Add explicit transform matrices (#2483)

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This commit is contained in:
Leon Friedrich
2022-02-02 12:03:45 +13:00
committed by GitHub
parent 213955566b
commit c077e09436
3 changed files with 85 additions and 26 deletions
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63
Robust.Shared.Maths/Matrix3.cs
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@@ -427,21 +427,66 @@ namespace Robust.Shared.Maths
return CreateScale(scale.X, scale.Y);
}
public static Matrix3 CreateTransform(in Vector2 position, in Angle rotation, in Vector2 scale)
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Matrix3 CreateTransform(float posX, float posY, float angle, float scaleX = 1, float scaleY = 1)
{
var sMat = CreateScale(in scale);
var rMat = CreateRotation(rotation);
var tMat = CreateTranslation(position);
// returns a matrix that is equivalent to returning CreateScale(scale) * CreateRotation(angle) * CreateTranslation(posX, posY)
return sMat * rMat * tMat;
var (sin, cos) = MathF.SinCos(angle);
return new Matrix3
{
R0C0 = cos * scaleX,
R0C1 = -sin * scaleY,
R0C2 = posX,
R1C0 = sin * scaleX,
R1C1 = cos * scaleY,
R1C2 = posY,
R2C2 = 1
};
}
public static Matrix3 CreateTransform(in Vector2 position, in Angle rotation)
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Matrix3 CreateInverseTransform(float posX, float posY, float angle, float scaleX = 1, float scaleY = 1)
{
var rMat = CreateRotation(rotation);
var tMat = CreateTranslation(position);
// returns a matrix that is equivalent to returning CreateTranslation(-posX, -posY) * CreateRotation(-angle) * CreateScale(1/scaleX, 1/scaleY)
return rMat * tMat;
var (sin, cos) = MathF.SinCos(angle);
return new Matrix3
{
R0C0 = cos / scaleX,
R0C1 = sin / scaleX,
R0C2 = - (posX * cos + posY * sin) / scaleX,
R1C0 = -sin / scaleY,
R1C1 = cos / scaleY,
R1C2 = (posX * sin - posY * cos) / scaleY,
R2C2 = 1
};
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Matrix3 CreateTransform(in Vector2 position, in Angle angle)
{
return CreateTransform(position.X, position.Y, (float)angle.Theta);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Matrix3 CreateTransform(in Vector2 position, in Angle angle, in Vector2 scale)
{
return CreateTransform(position.X, position.Y, (float)angle.Theta, scale.X, scale.Y);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Matrix3 CreateInverseTransform(in Vector2 position, in Angle angle)
{
return CreateInverseTransform(position.X, position.Y, (float)angle.Theta);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Matrix3 CreateInverseTransform(in Vector2 position, in Angle angle, in Vector2 scale)
{
return CreateInverseTransform(position.X, position.Y, (float)angle.Theta, scale.X, scale.Y);
}
#endregion Constructors