mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-28 14:47:13 +01:00
287 lines
8.4 KiB
C++
287 lines
8.4 KiB
C++
/*
|
|
Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef B3_TRANSFORM_H
|
|
#define B3_TRANSFORM_H
|
|
|
|
#include "b3Matrix3x3.h"
|
|
|
|
#ifdef B3_USE_DOUBLE_PRECISION
|
|
#define b3TransformData b3TransformDoubleData
|
|
#else
|
|
#define b3TransformData b3TransformFloatData
|
|
#endif
|
|
|
|
/**@brief The b3Transform class supports rigid transforms with only translation and rotation and no scaling/shear.
|
|
*It can be used in combination with b3Vector3, b3Quaternion and b3Matrix3x3 linear algebra classes. */
|
|
B3_ATTRIBUTE_ALIGNED16(class)
|
|
b3Transform
|
|
{
|
|
///Storage for the rotation
|
|
b3Matrix3x3 m_basis;
|
|
///Storage for the translation
|
|
b3Vector3 m_origin;
|
|
|
|
public:
|
|
/**@brief No initialization constructor */
|
|
b3Transform() {}
|
|
/**@brief Constructor from b3Quaternion (optional b3Vector3 )
|
|
* @param q Rotation from quaternion
|
|
* @param c Translation from Vector (default 0,0,0) */
|
|
explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q,
|
|
const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
|
|
: m_basis(q),
|
|
m_origin(c)
|
|
{
|
|
}
|
|
|
|
/**@brief Constructor from b3Matrix3x3 (optional b3Vector3)
|
|
* @param b Rotation from Matrix
|
|
* @param c Translation from Vector default (0,0,0)*/
|
|
explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b,
|
|
const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
|
|
: m_basis(b),
|
|
m_origin(c)
|
|
{
|
|
}
|
|
/**@brief Copy constructor */
|
|
B3_FORCE_INLINE b3Transform(const b3Transform& other)
|
|
: m_basis(other.m_basis),
|
|
m_origin(other.m_origin)
|
|
{
|
|
}
|
|
/**@brief Assignment Operator */
|
|
B3_FORCE_INLINE b3Transform& operator=(const b3Transform& other)
|
|
{
|
|
m_basis = other.m_basis;
|
|
m_origin = other.m_origin;
|
|
return *this;
|
|
}
|
|
|
|
/**@brief Set the current transform as the value of the product of two transforms
|
|
* @param t1 Transform 1
|
|
* @param t2 Transform 2
|
|
* This = Transform1 * Transform2 */
|
|
B3_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2)
|
|
{
|
|
m_basis = t1.m_basis * t2.m_basis;
|
|
m_origin = t1(t2.m_origin);
|
|
}
|
|
|
|
/* void multInverseLeft(const b3Transform& t1, const b3Transform& t2) {
|
|
b3Vector3 v = t2.m_origin - t1.m_origin;
|
|
m_basis = b3MultTransposeLeft(t1.m_basis, t2.m_basis);
|
|
m_origin = v * t1.m_basis;
|
|
}
|
|
*/
|
|
|
|
/**@brief Return the transform of the vector */
|
|
B3_FORCE_INLINE b3Vector3 operator()(const b3Vector3& x) const
|
|
{
|
|
return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
|
|
}
|
|
|
|
/**@brief Return the transform of the vector */
|
|
B3_FORCE_INLINE b3Vector3 operator*(const b3Vector3& x) const
|
|
{
|
|
return (*this)(x);
|
|
}
|
|
|
|
/**@brief Return the transform of the b3Quaternion */
|
|
B3_FORCE_INLINE b3Quaternion operator*(const b3Quaternion& q) const
|
|
{
|
|
return getRotation() * q;
|
|
}
|
|
|
|
/**@brief Return the basis matrix for the rotation */
|
|
B3_FORCE_INLINE b3Matrix3x3& getBasis() { return m_basis; }
|
|
/**@brief Return the basis matrix for the rotation */
|
|
B3_FORCE_INLINE const b3Matrix3x3& getBasis() const { return m_basis; }
|
|
|
|
/**@brief Return the origin vector translation */
|
|
B3_FORCE_INLINE b3Vector3& getOrigin() { return m_origin; }
|
|
/**@brief Return the origin vector translation */
|
|
B3_FORCE_INLINE const b3Vector3& getOrigin() const { return m_origin; }
|
|
|
|
/**@brief Return a quaternion representing the rotation */
|
|
b3Quaternion getRotation() const
|
|
{
|
|
b3Quaternion q;
|
|
m_basis.getRotation(q);
|
|
return q;
|
|
}
|
|
|
|
/**@brief Set from an array
|
|
* @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
|
|
void setFromOpenGLMatrix(const b3Scalar* m)
|
|
{
|
|
m_basis.setFromOpenGLSubMatrix(m);
|
|
m_origin.setValue(m[12], m[13], m[14]);
|
|
}
|
|
|
|
/**@brief Fill an array representation
|
|
* @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
|
|
void getOpenGLMatrix(b3Scalar * m) const
|
|
{
|
|
m_basis.getOpenGLSubMatrix(m);
|
|
m[12] = m_origin.getX();
|
|
m[13] = m_origin.getY();
|
|
m[14] = m_origin.getZ();
|
|
m[15] = b3Scalar(1.0);
|
|
}
|
|
|
|
/**@brief Set the translational element
|
|
* @param origin The vector to set the translation to */
|
|
B3_FORCE_INLINE void setOrigin(const b3Vector3& origin)
|
|
{
|
|
m_origin = origin;
|
|
}
|
|
|
|
B3_FORCE_INLINE b3Vector3 invXform(const b3Vector3& inVec) const;
|
|
|
|
/**@brief Set the rotational element by b3Matrix3x3 */
|
|
B3_FORCE_INLINE void setBasis(const b3Matrix3x3& basis)
|
|
{
|
|
m_basis = basis;
|
|
}
|
|
|
|
/**@brief Set the rotational element by b3Quaternion */
|
|
B3_FORCE_INLINE void setRotation(const b3Quaternion& q)
|
|
{
|
|
m_basis.setRotation(q);
|
|
}
|
|
|
|
/**@brief Set this transformation to the identity */
|
|
void setIdentity()
|
|
{
|
|
m_basis.setIdentity();
|
|
m_origin.setValue(b3Scalar(0.0), b3Scalar(0.0), b3Scalar(0.0));
|
|
}
|
|
|
|
/**@brief Multiply this Transform by another(this = this * another)
|
|
* @param t The other transform */
|
|
b3Transform& operator*=(const b3Transform& t)
|
|
{
|
|
m_origin += m_basis * t.m_origin;
|
|
m_basis *= t.m_basis;
|
|
return *this;
|
|
}
|
|
|
|
/**@brief Return the inverse of this transform */
|
|
b3Transform inverse() const
|
|
{
|
|
b3Matrix3x3 inv = m_basis.transpose();
|
|
return b3Transform(inv, inv * -m_origin);
|
|
}
|
|
|
|
/**@brief Return the inverse of this transform times the other transform
|
|
* @param t The other transform
|
|
* return this.inverse() * the other */
|
|
b3Transform inverseTimes(const b3Transform& t) const;
|
|
|
|
/**@brief Return the product of this transform and the other */
|
|
b3Transform operator*(const b3Transform& t) const;
|
|
|
|
/**@brief Return an identity transform */
|
|
static const b3Transform& getIdentity()
|
|
{
|
|
static const b3Transform identityTransform(b3Matrix3x3::getIdentity());
|
|
return identityTransform;
|
|
}
|
|
|
|
void serialize(struct b3TransformData & dataOut) const;
|
|
|
|
void serializeFloat(struct b3TransformFloatData & dataOut) const;
|
|
|
|
void deSerialize(const struct b3TransformData& dataIn);
|
|
|
|
void deSerializeDouble(const struct b3TransformDoubleData& dataIn);
|
|
|
|
void deSerializeFloat(const struct b3TransformFloatData& dataIn);
|
|
};
|
|
|
|
B3_FORCE_INLINE b3Vector3
|
|
b3Transform::invXform(const b3Vector3& inVec) const
|
|
{
|
|
b3Vector3 v = inVec - m_origin;
|
|
return (m_basis.transpose() * v);
|
|
}
|
|
|
|
B3_FORCE_INLINE b3Transform
|
|
b3Transform::inverseTimes(const b3Transform& t) const
|
|
{
|
|
b3Vector3 v = t.getOrigin() - m_origin;
|
|
return b3Transform(m_basis.transposeTimes(t.m_basis),
|
|
v * m_basis);
|
|
}
|
|
|
|
B3_FORCE_INLINE b3Transform
|
|
b3Transform::operator*(const b3Transform& t) const
|
|
{
|
|
return b3Transform(m_basis * t.m_basis,
|
|
(*this)(t.m_origin));
|
|
}
|
|
|
|
/**@brief Test if two transforms have all elements equal */
|
|
B3_FORCE_INLINE bool operator==(const b3Transform& t1, const b3Transform& t2)
|
|
{
|
|
return (t1.getBasis() == t2.getBasis() &&
|
|
t1.getOrigin() == t2.getOrigin());
|
|
}
|
|
|
|
///for serialization
|
|
struct b3TransformFloatData
|
|
{
|
|
b3Matrix3x3FloatData m_basis;
|
|
b3Vector3FloatData m_origin;
|
|
};
|
|
|
|
struct b3TransformDoubleData
|
|
{
|
|
b3Matrix3x3DoubleData m_basis;
|
|
b3Vector3DoubleData m_origin;
|
|
};
|
|
|
|
B3_FORCE_INLINE void b3Transform::serialize(b3TransformData& dataOut) const
|
|
{
|
|
m_basis.serialize(dataOut.m_basis);
|
|
m_origin.serialize(dataOut.m_origin);
|
|
}
|
|
|
|
B3_FORCE_INLINE void b3Transform::serializeFloat(b3TransformFloatData& dataOut) const
|
|
{
|
|
m_basis.serializeFloat(dataOut.m_basis);
|
|
m_origin.serializeFloat(dataOut.m_origin);
|
|
}
|
|
|
|
B3_FORCE_INLINE void b3Transform::deSerialize(const b3TransformData& dataIn)
|
|
{
|
|
m_basis.deSerialize(dataIn.m_basis);
|
|
m_origin.deSerialize(dataIn.m_origin);
|
|
}
|
|
|
|
B3_FORCE_INLINE void b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn)
|
|
{
|
|
m_basis.deSerializeFloat(dataIn.m_basis);
|
|
m_origin.deSerializeFloat(dataIn.m_origin);
|
|
}
|
|
|
|
B3_FORCE_INLINE void b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn)
|
|
{
|
|
m_basis.deSerializeDouble(dataIn.m_basis);
|
|
m_origin.deSerializeDouble(dataIn.m_origin);
|
|
}
|
|
|
|
#endif //B3_TRANSFORM_H
|