transform.hpp

#ifndef LIBSBX_SCENES_COMPONENTS_TRANSFORM_HPP_
#define LIBSBX_SCENES_COMPONENTS_TRANSFORM_HPP_
 
#include <numbers>
 
#include <libsbx/math/vector3.hpp>
#include <libsbx/math/matrix4x4.hpp>
#include <libsbx/math/angle.hpp>
#include <libsbx/math/quaternion.hpp>
 
namespace sbx::math {
 
class transform final {
 
public:
 
  transform(const vector3& position = vector3::zero, const quaternion& rotation = quaternion::identity, const vector3& scale = vector3::one)
  : _position{position}, 
    _rotation{rotation}, 
    _scale{scale},
    _rotation_matrix{_rotation.to_matrix()} { }
 
  ~transform() = default;
 
  auto position() const noexcept -> const vector3& {
    return _position;
  }
 
  auto position() noexcept -> vector3& {
    return _position;
  }
 
  auto set_position(const vector3& position) noexcept -> void {
    _position = position;
  }
 
  auto move_by(const vector3& offset) noexcept -> void {
    _position += offset;
  }
 
  auto rotation() const noexcept -> const quaternion& {
    return _rotation;
  }
 
  auto set_rotation(const quaternion& rotation) noexcept -> void {
    _rotation = rotation;
    _rotation_matrix = _rotation.to_matrix();
  }
 
  auto set_rotation(const vector3& axis, const angle& angle) noexcept -> void {
    _rotation = quaternion{axis, angle};
    _rotation_matrix = _rotation.to_matrix();
  }
 
  auto scale() const noexcept -> const vector3& {
    return _scale;
  }
 
  auto scale() noexcept -> vector3& {
    return _scale;
  }
 
  auto set_scale(const vector3& scale) noexcept -> void {
    _scale = scale;
  }
 
  auto forward() const noexcept -> vector3 {
    return -vector3{_rotation_matrix[2]};
  }
 
  auto right() const noexcept -> vector3 {
    return vector3{_rotation_matrix[0]};
  }
 
  auto up() const noexcept -> vector3 {
    return vector3{_rotation_matrix[1]};
  }
 
  auto look_at(const vector3& target) noexcept -> void {
    auto result = matrix4x4::look_at(_position, target, vector3::up);
    _rotation = quaternion{result};
    _rotation_matrix = _rotation.to_matrix();
  }
 
  auto as_matrix() const -> matrix4x4 {
    const auto translation = matrix4x4::translated(matrix4x4::identity, _position);
    const auto scale = matrix4x4::scaled(matrix4x4::identity, _scale);
 
    return translation * _rotation_matrix * scale;
  }
 
private:
 
  vector3 _position;
  quaternion _rotation;
  vector3 _scale;
 
  matrix4x4 _rotation_matrix;
 
}; // class transform
 
} // namespace sbx::math
 
#endif // LIBSBX_SCENES_COMPONENTS_TRANSFORM_HPP_