refactor(gfx/Transformable): cleaned up GetWorldMatrix()

Author: tomezpl

src/examples/demo/DemoApp.h

@@ -193,12 +193,9 @@ class DemoApp : public system::BaseApp
 	KeyboardState keys = {false, false, false, false, false};
 
 	float deltaTime = 0.f;
-	auto transform = cube2.GetTransform();
-	// transform->Origin(lepus::types::Vector3(0.f, 0.f, -2.f));
-	// transform->SetScale(0.5f, 0.25f, 1.f);
 
-	// Parent the second cube to the first cube.
-	// cubeNode->AddChild(&cube2);
+	cube2.GetTransform()->SetScale(1.f, 0.5f, 1.f);
+	cube3.GetTransform()->SetScale(1.f, 2.f, 1.f);
 
 	while (isRunning)
 	{
@@ -213,7 +210,7 @@ class DemoApp : public system::BaseApp
 		cube.GetTransform()->Rotate(lepus::types::Quaternion(lepus::types::Vector3(0.f, 1.f, 0.f), PI * -0.25f));
 	    }
 	    cube.GetTransform()->Rotate(lepus::types::Quaternion(lepus::types::Vector3(0.f, 1.f, 0.f), -deltaTime));
-	    cube2.GetTransform()->Rotate(lepus::types::Quaternion(lepus::types::Vector3(1.f, 0.f, 0.f), -deltaTime));
+	    // cube2.GetTransform()->Rotate(lepus::types::Quaternion(lepus::types::Vector3(1.f, 0.f, 0.f), -deltaTime));
 	    cube3.GetTransform()->Rotate(lepus::types::Quaternion(lepus::types::Vector3(1.f, 1.f, 1.f), -deltaTime));
 
 	    // Move the child cube back and forth along the parent's Z-axis

src/lepus/gfx/SceneGraph/Transformable.h

@@ -73,12 +73,12 @@ namespace lepus
 		{
 		    auto parentTransform = *(leaves[i - 1]->GetTransformable()->GetTransform());
 
-		    lepus::types::Vector4 rotated(leaves[i]->GetTransformable()->GetTransform()->Origin() * accScale);
-		    rotated.w(1.f);
+		    lepus::types::Vector3 scaled = leaves[i]->GetTransformable()->GetTransform()->Origin() * accScale;
+
 		    accScale.Multiply(parentTransform.Scale());
-		    //
+
 		    parentTransform.Origin(lepus::types::Vector3());
-		    //
+
 		    lepus::types::Quaternion normParentRot = parentTransform.Rotation().Normalised();
 		    lepus::types::Vector3 axis = normParentRot.Axis();
 		    float angle = normParentRot.Angle();
@@ -88,31 +88,17 @@ namespace lepus
 		    lepus::types::Vector4 rotatedAxis = mat.Multiply(lepus::types::Vector4(axis));
 
 		    parentTransform.Rotation(lepus::types::Quaternion(rotatedAxis.x(), rotatedAxis.y(), rotatedAxis.z(), angle));
-		    mat = parentTransform.BuildMatrix();
-		    // rotated = mat.Multiply(rotated);
-		    // rotated = accRot.Rotate(rotated);
 
 		    accRot = accRot * (parentTransform.Rotation());
 		    parentTransform.Rotation(accRot);
 		    mat = parentTransform.BuildMatrix();
-		    auto fwd = mat.Multiply(lepus::types::Vector4(0, 0, 1, 1)),
-		         rgt = mat.Multiply(lepus::types::Vector4(1, 0, 0, 1)),
+		    auto forward = mat.Multiply(lepus::types::Vector4(0, 0, 1, 1)),
+		         right = mat.Multiply(lepus::types::Vector4(1, 0, 0, 1)),
 		         up = mat.Multiply(lepus::types::Vector4(0, 1, 0, 1));
 
-		    auto forward = lepus::types::Vector3(fwd.x(), fwd.y(), fwd.z());
-		    auto right = lepus::types::Vector3(rgt.x(), rgt.y(), rgt.z());
-		    auto newUp = lepus::types::Vector3(up.x(), up.y(), up.z());
-
-		    //    if (i == 1)
-		    //    {
-		    // accPos.x(accPos.x() + rotated.x());
-		    // accPos.y(accPos.y() + rotated.y());
-		    // accPos.z(accPos.z() + rotated.z());
-		    //    }
-		    //    else
-		    {
-			accPos = accPos + forward * rotated.z() + right * rotated.x() + newUp * rotated.y();
-		    }
+		    accPos.x(accPos.x() + forward.x() * scaled.z() + right.x() * scaled.x() + up.x() * scaled.y());
+		    accPos.y(accPos.y() + forward.y() * scaled.z() + right.y() * scaled.x() + up.y() * scaled.y());
+		    accPos.z(accPos.z() + forward.z() * scaled.z() + right.z() * scaled.x() + up.z() * scaled.y());
 		}
 
 		lepus::math::Transform worldTransform = lepus::math::Transform();

tests/L3D/SceneGraph/SceneGraphTests.cpp

@@ -41,7 +41,7 @@ TEST(SceneGraphTest, SceneGraphChildIsAddedCorrectly)
 /// C is also rotated counter-clockwise around the Y axis by 50 degrees. Before applying A's rotation, D ends up at approx. (-3.1, 0, -0.55) away from A in world units.
 /// Once A's 90deg rotation is applied then, D should end up at approx (-0.57, 0, -5.06) in world space.
 ///
-/// (it may be helpful to draw this on a piece of paper)
+/// (it may be helpful to draw this on a piece of paper - which means this test will also not cover everything as it's limited to the XZ plane)
 TEST(SceneGraphTest, SceneGraphChildTransformsCreateCorrectWorldCoords)
 {
     lepus::gfx::SceneGraph sceneGraph = lepus::gfx::SceneGraph();