func NodeTransform(node *collada.Node) glm.Mat4d {
transform := glm.Ident4d()
for _, matrix := range node.Matrix {
v := matrix.F()
transform = transform.Mul4(glm.Mat4d{
v[0], v[1], v[2], v[3],
v[4], v[5], v[6], v[7],
v[8], v[9], v[10], v[11],
v[12], v[13], v[14], v[15],
}.Transpose())
}
for _, translate := range node.Translate {
v := translate.F()
transform = transform.Mul4(glm.Translate3Dd(v[0], v[1], v[2]))
}
for _, rotation := range node.Rotate {
v := rotation.F()
transform = transform.Mul4(glm.HomogRotate3Dd(v[3]*math.Pi/180, glm.Vec3d{v[0], v[1], v[2]}))
}
for _, scale := range node.Scale {
v := scale.F()
transform = transform.Mul4(glm.Scale3Dd(v[0], v[1], v[2]))
}
return transform
}
func PortalTransform(a, b Quad) (glm.Mat4d, glm.Mat4d, glm.Mat4d, glm.Mat4d) {
zn := glm.Vec4d{0, 0, 1, 0}
xn := glm.Vec4d{1, 0, 0, 0}
translateAZ := glm.Translate3Dd(-a.Center[0], -a.Center[1], -a.Center[2])
rotationAZ := RotationBetweenNormals(a.Normal, zn)
rotationAXZ := RotationBetweenNormals(rotationAZ.Mul4x1(a.PlaneV), xn)
scaleAZ := glm.Scale3Dd(1.0/a.Scale[0], 1.0/a.Scale[1], 1.0/a.Scale[2])
AZ := scaleAZ.Mul4(rotationAXZ).Mul4(rotationAZ).Mul4(translateAZ)
ZA := AZ.Inv()
translateBZ := glm.Translate3Dd(-b.Center[0], -b.Center[1], -b.Center[2])
rotationBZ := RotationBetweenNormals(b.Normal, zn)
rotationBXZ := RotationBetweenNormals(rotationBZ.Mul4x1(b.PlaneV), xn)
scaleBZ := glm.Scale3Dd(1.0/b.Scale[0], 1.0/b.Scale[1], 1.0/b.Scale[2])
BZ := scaleBZ.Mul4(rotationBXZ).Mul4(rotationBZ).Mul4(translateBZ)
ZB := BZ.Inv()
AB := ZB.Mul4(AZ)
BA := ZA.Mul4(BZ)
return AB, BA, AZ, BZ
}