InverseRotationMatrix.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "CoreTypes.h"
#include "Math/UnrealMathUtility.h"
#include "Math/Plane.h"
#include "Math/Matrix.h"
 
namespace UE {
namespace Math {
 
/** Inverse Rotation matrix */
template<typename T>
struct TInverseRotationMatrix
    : public TMatrix<T>
{
public:
    /**
     * Constructor.
     *
     * @param Rot rotation
     */
    TInverseRotationMatrix(const TRotator<T>& Rot);
 
    // Conversion to other type.
    template<typename FArg, TEMPLATE_REQUIRES(!std::is_same_v<T, FArg>)>
    explicit TInverseRotationMatrix(const TInverseRotationMatrix<FArg>& From) : TMatrix<T>(From) {}
};
 
template<typename T>
FORCEINLINE TInverseRotationMatrix<T>::TInverseRotationMatrix(const TRotator<T>& Rot)
    : TMatrix<T>(
        TMatrix<T>( // Yaw
            TPlane<T>(+FMath::Cos(Rot.Yaw * UE_PI / 180.f), -FMath::Sin(Rot.Yaw * UE_PI / 180.f), 0.0f, 0.0f),
            TPlane<T>(+FMath::Sin(Rot.Yaw * UE_PI / 180.f), +FMath::Cos(Rot.Yaw * UE_PI / 180.f), 0.0f, 0.0f),
            TPlane<T>(0.0f, 0.0f, 1.0f, 0.0f),
            TPlane<T>(0.0f, 0.0f, 0.0f, 1.0f)) *
        TMatrix<T>( // Pitch
            TPlane<T>(+FMath::Cos(Rot.Pitch * UE_PI / 180.f), 0.0f, -FMath::Sin(Rot.Pitch * UE_PI / 180.f), 0.0f),
            TPlane<T>(0.0f, 1.0f, 0.0f, 0.0f),
            TPlane<T>(+FMath::Sin(Rot.Pitch * UE_PI / 180.f), 0.0f, +FMath::Cos(Rot.Pitch * UE_PI / 180.f), 0.0f),
            TPlane<T>(0.0f, 0.0f, 0.0f, 1.0f)) *
        TMatrix<T>( // Roll
            TPlane<T>(1.0f, 0.0f, 0.0f, 0.0f),
            TPlane<T>(0.0f, +FMath::Cos(Rot.Roll * UE_PI / 180.f), +FMath::Sin(Rot.Roll * UE_PI / 180.f), 0.0f),
            TPlane<T>(0.0f, -FMath::Sin(Rot.Roll * UE_PI / 180.f), +FMath::Cos(Rot.Roll * UE_PI / 180.f), 0.0f),
            TPlane<T>(0.0f, 0.0f, 0.0f, 1.0f))
    )
{ }
 
} // namespace Math
} // namespace UE
 
UE_DECLARE_LWC_TYPE(InverseRotationMatrix, 44);
 
template<> struct TIsUECoreVariant<FInverseRotationMatrix44f> { enum { Value = true }; };
template<> struct TIsUECoreVariant<FInverseRotationMatrix44d> { enum { Value = true }; };