RotationTranslationMatrix.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "CoreTypes.h"
#include "Math/UnrealMathUtility.h"
#include "Math/VectorRegister.h"
#include "Math/Matrix.h"
 
namespace UE {
namespace Math {
 
/** Combined rotation and translation matrix */
template<typename T>
struct TRotationTranslationMatrix
    : public TMatrix<T>
{
public:
    using TMatrix<T>::M;
 
    /**
     * Constructor.
     *
     * @param Rot rotation
     * @param Origin translation to apply
     */
    TRotationTranslationMatrix(const TRotator<T>& Rot, const TVector<T>& Origin);
 
    // Conversion to other type.
    template<typename FArg, TEMPLATE_REQUIRES(!std::is_same_v<T, FArg>)>
    explicit TRotationTranslationMatrix(const TRotationTranslationMatrix<FArg>& From) : TMatrix<T>(From) {}
 
    /** Matrix factory. Return an TMatrix<T> so we don't have type conversion issues in expressions. */
    static TMatrix<T> Make(const TRotator<T>& Rot, const TVector<T>& Origin)
    {
        return TRotationTranslationMatrix(Rot, Origin);
    }
};
 
 
template<typename T>
FORCEINLINE TRotationTranslationMatrix<T>::TRotationTranslationMatrix(const TRotator<T>& Rot, const TVector<T>& Origin)
{
#if PLATFORM_ENABLE_VECTORINTRINSICS && (!PLATFORM_HOLOLENS || !PLATFORM_CPU_ARM_FAMILY)
 
    const TVectorRegisterType<T> Angles = MakeVectorRegister(Rot.Pitch, Rot.Yaw, Rot.Roll, 0.0f);
    const TVectorRegisterType<T> HalfAngles = VectorMultiply(Angles, GlobalVectorConstants::DEG_TO_RAD);
 
    union { TVectorRegisterType<T> v; T f[4]; } SinAngles, CosAngles;
    VectorSinCos(&SinAngles.v, &CosAngles.v, &HalfAngles);
 
    const T SP  = SinAngles.f[0];
    const T SY  = SinAngles.f[1];
    const T SR  = SinAngles.f[2];
    const T CP  = CosAngles.f[0];
    const T CY  = CosAngles.f[1];
    const T CR  = CosAngles.f[2];
 
#else
 
    T SP, SY, SR;
    T CP, CY, CR;
    FMath::SinCos(&SP, &CP, (T)FMath::DegreesToRadians(Rot.Pitch));
    FMath::SinCos(&SY, &CY, (T)FMath::DegreesToRadians(Rot.Yaw));
    FMath::SinCos(&SR, &CR, (T)FMath::DegreesToRadians(Rot.Roll));
 
#endif // PLATFORM_ENABLE_VECTORINTRINSICS
 
    M[0][0] = CP * CY;
    M[0][1] = CP * SY;
    M[0][2] = SP;
    M[0][3] = 0.f;
 
    M[1][0] = SR * SP * CY - CR * SY;
    M[1][1] = SR * SP * SY + CR * CY;
    M[1][2] = - SR * CP;
    M[1][3] = 0.f;
 
    M[2][0] = -( CR * SP * CY + SR * SY );
    M[2][1] = CY * SR - CR * SP * SY;
    M[2][2] = CR * CP;
    M[2][3] = 0.f;
 
    M[3][0] = Origin.X;
    M[3][1] = Origin.Y;
    M[3][2] = Origin.Z;
    M[3][3] = 1.f;
}
 
} // namespace Math
} // namespace UE
 
UE_DECLARE_LWC_TYPE(RotationTranslationMatrix, 44);
 
template<> struct TIsUECoreVariant<FRotationTranslationMatrix44f> { enum { Value = true }; };
template<> struct TIsUECoreVariant<FRotationTranslationMatrix44d> { enum { Value = true }; };