transform.hpp

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#pragma once
 
#include <wren/math/geometry.hpp>
#include <wren/math/matrix.hpp>
#include <wren/math/quaternion.hpp>
#include <wren/math/vector.hpp>
 
namespace wren::scene::components {
 
struct Transform {
  math::Vec3f position = {0, 0, 0};
  math::Vec3f rotation = {0, 0, 0};
  math::Vec3f scale = {1, 1, 1};
 
  [[nodiscard]] auto matrix() const {
    const math::Mat4f translate =
        math::translate(math::Mat4f::identity(), position);
    const math::Mat4f rotate = math::Quaternionf(rotation).to_mat();
    const math::Mat4f scaled = math::scale(math::Mat4f::identity(), scale);
 
    return translate * rotate * scaled;
  }
 
  [[nodiscard]] auto right() const {
    return (math::Quaternionf{rotation}.to_mat() * math::Vec3f{1, 0, 0})
        .normalized();
  }
 
  [[nodiscard]] auto up() const {
    return (math::Quaternionf{rotation}.to_mat() * math::Vec3f{0, 1, 0})
        .normalized();
  }
 
  [[nodiscard]] auto forward() const {
    return (math::Quaternionf{rotation}.to_mat() * math::Vec3f{0, 0, 1})
        .normalized();
  }
};
 
}  // namespace wren::scene::components