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62 行
1.8 KiB
62 行
1.8 KiB
using UnityEngine;
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namespace UniVRM10
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{
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public struct TR
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{
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public Quaternion Rotation;
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public Vector3 Translation;
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public static TR Identity => new TR(Quaternion.identity, Vector3.zero);
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public static TR FromWorld(Transform t) => new TR(t.rotation, t.position);
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public static TR FromParent(Transform t) => t.parent != null ? FromWorld(t.parent) : TR.Identity;
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public static TR FromLocal(Transform t) => new TR(t.localRotation, t.localPosition);
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public static TR FromRelative(Transform t, Transform from)
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{
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var toRelative = from.worldToLocalMatrix;
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return new TR(toRelative.rotation * t.rotation, toRelative.MultiplyPoint(t.position));
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}
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public TR(Quaternion r, Vector3 t)
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{
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Rotation = r;
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Translation = t;
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}
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public TR(Quaternion r) : this(r, Vector3.zero)
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{
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}
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public TR(Vector3 t) : this(Quaternion.identity, t)
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{
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}
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public Matrix4x4 TRS(float s) => Matrix4x4.TRS(Translation, Rotation, new Vector3(s, s, s));
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/// <summary>
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/// R1|T1 R2|T2 x R1R2|R1T2+T1 x
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/// --+-- --+-- y => ----+------- y
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/// 0| 1 0| 1 z 0| 1 z
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/// </summary>
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/// <param name="a"></param>
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/// <param name="b"></param>
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/// <returns></returns>
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public static TR operator *(TR a, TR b) => new TR(a.Rotation * b.Rotation, a.Rotation * b.Translation + a.Translation);
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/// <summary>
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/// R|0 1|T R|RT
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/// -+- -+- => -+--
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/// 0|1 0|1 0| 1
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/// </summary>
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public TR Inverse()
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{
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var inv = Quaternion.Inverse(Rotation);
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return new TR(inv, inv * -Translation);
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}
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}
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}
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