splited Transform.h/.cpp
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@@ -18,7 +18,7 @@ namespace hgl
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#define DEFINE_MATRIX(num) using Matrix##num##f=glm::mat##num; \
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constexpr const Matrix##num##f Identity##num##f=Matrix##num##f(1.0f); \
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inline bool IsIdentity(const Matrix##num##f &m){return(hgl_cmp(m,Identity##num##f)==0);} \
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inline bool IsIdentityMatrix(const Matrix##num##f &m){return(hgl_cmp(m,Identity##num##f)==0);} \
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inline int FastMatrixComp(const Matrix##num##f &m1,const Matrix##num##f &m2){return hgl_cmp(m1,m2);}
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DEFINE_MATRIX(2)
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@@ -29,7 +29,7 @@ namespace hgl
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DEFINE_MATRIX(4x2)
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DEFINE_MATRIX(4x3)
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#undef DEFINE_MATRIX
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//#undef DEFINE_MATRIX
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inline Matrix4f inverse(const Matrix4f &m)
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{
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@@ -218,232 +218,7 @@ namespace hgl
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const Matrix4f GetRotateMatrix(const Vector3f &world_position,const Vector3f &old_direction,const Vector3f &new_direction);
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const Quatf GetRotateQuat(const Vector3f &world_position,const Vector3f &old_direction,const Vector3f &new_direction);
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/**
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* 带误差的比较两个浮点矩阵是否相等
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* @param m1 矩阵1
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* @param m2 矩阵2
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* @param deviation 允许的误差值
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*/
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template<typename M>
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inline float DeviationMatrixComp(const M &m1,const M &m2,const float deviation=HGL_FLOAT_SMALL)
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{
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float *f1=(float *)&m1;
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float *f2=(float *)&m2;
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float gap;
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for(int i=0;i<sizeof(M)/sizeof(float);i++)
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{
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gap=*f1-*f2;
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if(fabsf(gap)<deviation)
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return(gap);
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}
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return 0;
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}
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// 函数用于从 glm::mat4 中提取平移、旋转和缩放
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bool DecomposeTransform(const Matrix4f & transform, Vector3f & outTranslation, Quatf & outRotation, Vector3f & outScale);
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/**
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* 变换矩阵<Br>
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* 便于分散管理平移、旋转、缩放等数值
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*/
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class Transform
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{
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protected:
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Matrix4f matrix;
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Matrix4f inverse_matrix;
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Matrix4f transpose_inverse_matrix;
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bool matrix_dirty;
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Vector3f translation_vector;
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Quatf rotation_quat;
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Vector3f rotation_axis;
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float rotate_angle;
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Vector3f scale_vector;
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protected:
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void UpdateMatrix()
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{
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if(!matrix_dirty)
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return;
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matrix=translate(translation_vector)*ToMatrix(rotation_quat)*scale(scale_vector);
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inverse_matrix=inverse(matrix);
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transpose_inverse_matrix=transpose(inverse_matrix);
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matrix_dirty=false;
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}
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void UpdateQuat()
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{
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rotation_quat=RotationQuat(rotate_angle,rotation_axis);
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matrix_dirty=true;
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}
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public:
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const Matrix4f &GetMatrix()
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{
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UpdateMatrix();
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return matrix;
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}
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operator const Matrix4f &(){return GetMatrix();}
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const Matrix4f &GetInverseMatrix()
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{
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UpdateMatrix();
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return inverse_matrix;
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}
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const Vector3f &GetTranslation ()const{return translation_vector;}
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const Vector3f &GetScale ()const{return scale_vector;}
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const Quatf & GetRotationQuat ()const{return rotation_quat;}
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const Vector3f &GetRotationAxis ()const{return rotation_axis;}
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const float GetRotateAngle ()const{return rotate_angle;}
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void SetTranslation(const float x,const float y,const float z)
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{
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translation_vector.x=x;
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translation_vector.y=y;
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translation_vector.z=z;
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matrix_dirty=true;
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}
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void SetTranslation(const Vector3f &v)
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{
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translation_vector=v;
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matrix_dirty=true;
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}
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void ClearRotation()
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{
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rotation_quat=IdentityQuatf;
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rotation_axis=Vector3f(0,0,0);
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rotate_angle=0;
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matrix_dirty=true;
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}
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void SetRotation(const Quatf &q)
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{
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rotation_quat=q;
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ExtractedQuat(q,rotation_axis,rotate_angle);
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matrix_dirty=true;
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}
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void SetRotation(const Vector3f &axis,const float angle)
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{
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rotation_axis=axis;
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rotate_angle=angle;
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UpdateQuat();
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}
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void SetRotationAxis(const Vector3f &axis)
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{
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rotation_axis=axis;
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UpdateQuat();
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}
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void SetRotation(const AXIS &axis,const float angle)
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{
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rotation_axis=GetAxisVector(axis);
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rotate_angle=angle;
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UpdateQuat();
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}
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void SetRotationAxis(const AXIS &axis)
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{
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rotation_axis=GetAxisVector(axis);
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UpdateQuat();
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}
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void SetRotateAngle(float angle)
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{
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rotate_angle=angle;
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UpdateQuat();
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}
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void SetScale(const float &v)
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{
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scale_vector=Vector3f(v,v,v);
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matrix_dirty=true;
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}
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void SetScale(const Vector3f &v)
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{
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scale_vector=v;
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matrix_dirty=true;
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}
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public:
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Transform()
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{
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matrix=Identity4f;
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inverse_matrix=Identity4f;
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matrix_dirty=false;
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translation_vector=Vector3f(0,0,0);
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rotation_quat=Quatf(1,0,0,0);
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rotation_axis=Vector3f(0,0,0);
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rotate_angle=0;
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scale_vector=Vector3f(1,1,1);
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}
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Transform(const Matrix4f &m)
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{
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SetFromMatrix4f(m);
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}
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void SetFromMatrix4f(const Matrix4f &m)
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{
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matrix=m;
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inverse_matrix=inverse(m);
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matrix_dirty=false;
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DecomposeTransform(m,translation_vector,rotation_quat,scale_vector);
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ExtractedQuat(rotation_quat,rotation_axis,rotate_angle);
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}
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inline Vector3f TransformPosition(const Vector3f &v)
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{
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return Vector3f(matrix*Vector4f(v,1.0f));
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}
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inline Vector3f TransformDirection(const Vector3f &v)
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{
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return Vector3f(matrix*Vector4f(v,0.0f));
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}
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inline Vector3f TransformNormal(const Vector3f &v)
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{
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return normalize(Vector3f(transpose_inverse_matrix*Vector4f(v,0.0f)));
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}
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inline Matrix3f TransformMatrix(const Matrix3f &child)
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{
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return Matrix3f(matrix*Matrix4f(child));
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}
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inline Matrix4f TransformMatrix(const Matrix4f &child)
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{
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return matrix*child;
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}
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};//Transform
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constexpr const size_t TransformMatrix4fLength=sizeof(Transform);
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Transform Blend(const Transform &from,const Transform &to,const float t);
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}//namespace hgl
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#endif//HGL_ALGORITHM_MATH_VECTOR_MATRIX_INCLUDE
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