Hierarchy.ToWorld

static Vec3 ToWorld(Vec3 localPoint)

Converts a local point relative to the current hierarchy stack into world space!

   
Vec3 localPoint A point in local space.
RETURNS: Vec3 The provided point now in world space! 
static Quat ToWorld(Quat localOrientation)

Converts a local rotation relative to the current hierarchy stack into world space!

   
Quat localOrientation A rotation in local space.
RETURNS: Quat The provided rotation now in world space! 
static Pose ToWorld(Pose localPose)

Converts a local pose relative to the current hierarchy stack into world space!

   
Pose localPose A pose in local space.
RETURNS: Pose The provided pose now in world space! 
static Ray ToWorld(Ray localRay)

Converts a local ray relative to the current hierarchy stack into world space!

   
Ray localRay A ray in local space.
RETURNS: Ray The provided ray now in world space!

Examples

Spaces and Intersections

One tricky thing you need to keep in mind when working with different spaces like the ones created with Hierarchy is that any values you use for math need to be in the same space! I like to explicitly label my variables with the space they’re in anytime I’m working with anything even a little complicated!

An intersecting Ray in a complicated hierarchy

Here’s an example of intersecting a ray with some content that exists inside of a Hierarchy stack. You always need to transform your data into Mesh or Model space in order to do an Intersect, but the Hierarchy here adds a bit of extra complexity to the problem!

// It can often be helpful to consider if you're making a function
// "Hierarchy aware", meaning that it will still work properly if the
// code _already_ exists within a transformed hierarchy! Here we're
// using `Hierarchy.ToWorld` to ensure our intersection ray is
// _for sure_ in World Space.
Ray parentSpaceRay = new Ray(V.XYZ(0.5f, 4, -0.5f), V.XYZ(-1, 0, 0));
Ray worldSpaceRay  = Hierarchy.ToWorld(parentSpaceRay);
Lines.Add(parentSpaceRay, 0.5f, Color.White, 0.005f);

// Sometimes it can help with clarity to add scope brackets to show
// how the hierarchy is affecting the code!
Hierarchy.Push(Matrix.T(0, 4, -0.5f));
{
	Matrix localTransform = Matrix.TRS(Vec3.Zero, Quat.FromAngles(20, 135, 45), 0.2f);
	Mesh.Cube.Draw(Material.Default, localTransform);

	// Mesh intersection _must_ be done in Mesh space, since that's
	// the space the Vertex data is in. So we need to convert our
	// intersection ray all the way from world space to mesh space here
	// before calling `Intersect`!
	Ray localSpaceRay = Hierarchy.ToLocal(worldSpaceRay);
	Ray meshSpaceRay  = localTransform.Inverse.Transform(localSpaceRay);
	if (meshSpaceRay.Intersect(Mesh.Cube, out Ray meshSpaceAt))
	{
		// Similarly, the intersection point needs to be transformed
		// from Mesh space back into our local space before drawing it.
		Ray localAt = localTransform.Transform(meshSpaceAt);
		Mesh.Sphere.Draw(Material.Default, Matrix.TS(localAt.position, 0.04f), Color.HSV(0.36f, .8f, .8f));
	}
}
Hierarchy.Pop();



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