From 3d9664ed52e996ba39d939bd681c3f5400dd4e1c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?L=C3=A9o=20Lam?= <leo@leolam.fr>
Date: Thu, 13 Jan 2022 02:14:51 +0100
Subject: [PATCH] Havok: Add more hkTransformf functions

---
 .../Common/Base/Math/Matrix/hkRotationf.h     | 14 ++++++-
 .../Common/Base/Math/Matrix/hkTransformf.h    | 40 +++++++++++++++++++
 .../Base/Math/Quaternion/hkQuaternionf.h      |  2 +
 3 files changed, 55 insertions(+), 1 deletion(-)

diff --git a/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkRotationf.h b/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkRotationf.h
index 1a24fcc6..80d124b0 100644
--- a/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkRotationf.h
+++ b/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkRotationf.h
@@ -1,5 +1,17 @@
 #pragma once
 
 #include <Havok/Common/Base/Math/Matrix/hkMatrix3f.h>
+#include <Havok/Common/Base/Math/Quaternion/hkQuaternionf.h>
 
-class hkRotationf : public hkMatrix3f {};
+class hkRotationf : public hkMatrix3f {
+public:
+    void set(hkQuaternionfParameter q);
+
+    void setAxisAngle(hkVector4fParameter axis, hkFloat32 angle);
+    void setAxisAngle(hkVector4fParameter axis, hkSimdFloat32Parameter angle);
+
+    bool isOrthonormal(hkFloat32 epsilon = hkFloat32(1e-5f)) const;
+
+    bool isOk() const;
+    void renormalize();
+};
diff --git a/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkTransformf.h b/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkTransformf.h
index cbc0fbb1..0e4dab59 100644
--- a/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkTransformf.h
+++ b/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkTransformf.h
@@ -1,16 +1,56 @@
 #pragma once
 
 #include <Havok/Common/Base/Math/Matrix/hkRotationf.h>
+#include <Havok/Common/Base/Math/Quaternion/hkQuaternionf.h>
 #include <Havok/Common/Base/Math/Vector/hkVector4f.h>
 
 class hkTransformf {
 public:
+    HK_FORCE_INLINE hkTransformf() = default;
+    HK_FORCE_INLINE hkTransformf(const hkTransformf& other);
+    HK_FORCE_INLINE hkTransformf(const hkRotationf& r, hkVector4fParameter t);
+    HK_FORCE_INLINE hkTransformf(hkQuaternionfParameter r, hkVector4fParameter t);
+
+    hkTransformf& operator=(const hkTransformf& other) = default;
+
     hkRotationf& getRotation() { return m_rotation; }
     const hkRotationf& getRotation() const { return m_rotation; }
 
     hkVector4f& getTranslation() { return m_translation; }
     const hkVector4f& getTranslation() const { return m_translation; }
 
+    HK_FORCE_INLINE void set(const hkRotationf& r, hkVector4fParameter t);
+    HK_FORCE_INLINE void set(hkQuaternionfParameter q, hkVector4fParameter t);
+
     hkRotationf m_rotation;
     hkVector4f m_translation;
 };
+
+inline hkTransformf::hkTransformf(const hkTransformf& other) {
+    const auto col0 = other.m_rotation.m_col0;
+    const auto col1 = other.m_rotation.m_col1;
+    const auto col2 = other.m_rotation.m_col2;
+    const auto col3 = other.m_translation;
+    m_rotation.m_col0 = col0;
+    m_rotation.m_col1 = col1;
+    m_rotation.m_col2 = col2;
+    m_translation = col3;
+}
+
+inline hkTransformf::hkTransformf(const hkRotationf& r, const hkVector4f& t)
+    : m_rotation(r), m_translation(t) {}
+
+inline hkTransformf::hkTransformf(hkQuaternionfParameter r, const hkVector4f& t)
+    : m_translation(t) {
+    m_rotation.set(r);
+}
+
+inline void hkTransformf::set(const hkRotationf& r, const hkVector4f& t) {
+    m_rotation = r;
+    m_translation = t;
+}
+
+inline void hkTransformf::set(const hkQuaternionf& q, const hkVector4f& t) {
+    m_rotation.set(q);
+    m_translation = t;
+}
diff --git a/lib/hkStubs/Havok/Common/Base/Math/Quaternion/hkQuaternionf.h b/lib/hkStubs/Havok/Common/Base/Math/Quaternion/hkQuaternionf.h
index c88e06c4..f404ba78 100644
--- a/lib/hkStubs/Havok/Common/Base/Math/Quaternion/hkQuaternionf.h
+++ b/lib/hkStubs/Havok/Common/Base/Math/Quaternion/hkQuaternionf.h
@@ -2,6 +2,8 @@
 
 #include <Havok/Common/Base/Math/Vector/hkVector4f.h>
 
+using hkQuaternionfParameter = const class hkQuaternionf&;
+
 class hkQuaternionf {
 public:
     hkQuaternionf() {}  // NOLINT(modernize-use-equals-default)