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irr/include/Transform.h

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+#pragma once
+
+#include "irrMath.h"
+#include <matrix4.h>
+#include <variant>
+#include <vector3d.h>
+#include <quaternion.h>
+
+namespace irr
+{
+namespace core
+{
+
+struct Transform {
+	vector3df translation;
+	quaternion rotation;
+	vector3df scale{1};
+
+	// Tries to decompose the matrix, if there is one.
+	static Transform decompose(const core::matrix4 &mat)
+	{
+		auto scale = mat.getScale();
+		return {
+			mat.getTranslation(),
+			quaternion(mat.getRotationDegrees(scale) * DEGTORAD),
+			scale,
+		};
+	}
+
+	matrix4 buildMatrix() const
+	{
+		matrix4 T;
+		T.setTranslation(translation);
+		matrix4 R;
+		// TODO this is sussy. probably shouldn't be doing this.
+		rotation.getMatrix_transposed(R);
+		matrix4 S;
+		S.setScale(scale);
+		return T * R * S;
+	}
+};
+
+} // end namespace core
+} // end namespace irr