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Diffstat (limited to 'extern/solid/include/MT/Transform.h')
| -rw-r--r-- | extern/solid/include/MT/Transform.h | 189 |
1 files changed, 0 insertions, 189 deletions
diff --git a/extern/solid/include/MT/Transform.h b/extern/solid/include/MT/Transform.h deleted file mode 100644 index b80dc1bc18b..00000000000 --- a/extern/solid/include/MT/Transform.h +++ /dev/null @@ -1,189 +0,0 @@ -/* - * SOLID - Software Library for Interference Detection - * - * Copyright (C) 2001-2003 Dtecta. All rights reserved. - * - * This library may be distributed under the terms of the Q Public License - * (QPL) as defined by Trolltech AS of Norway and appearing in the file - * LICENSE.QPL included in the packaging of this file. - * - * This library may be distributed and/or modified under the terms of the - * GNU General Public License (GPL) version 2 as published by the Free Software - * Foundation and appearing in the file LICENSE.GPL included in the - * packaging of this file. - * - * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE - * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. - * - * Commercial use or any other use of this library not covered by either - * the QPL or the GPL requires an additional license from Dtecta. - * Please contact info@dtecta.com for enquiries about the terms of commercial - * use of this library. - */ - -#ifndef TRANSFORM_H -#define TRANSFORM_H - -#include "Vector3.h" -#include "Matrix3x3.h" - -namespace MT { - - template <typename Scalar> - class Transform { - enum { - TRANSLATION = 0x01, - ROTATION = 0x02, - RIGID = TRANSLATION | ROTATION, - SCALING = 0x04, - LINEAR = ROTATION | SCALING, - AFFINE = TRANSLATION | LINEAR - }; - - public: - Transform() {} - - template <typename Scalar2> - explicit Transform(const Scalar2 *m) { setValue(m); } - - explicit Transform(const Quaternion<Scalar>& q, - const Vector3<Scalar>& c = Vector3<Scalar>(Scalar(0), Scalar(0), Scalar(0))) - : m_basis(q), - m_origin(c), - m_type(RIGID) - {} - - explicit Transform(const Matrix3x3<Scalar>& b, - const Vector3<Scalar>& c = Vector3<Scalar>(Scalar(0), Scalar(0), Scalar(0)), - unsigned int type = AFFINE) - : m_basis(b), - m_origin(c), - m_type(type) - {} - - Vector3<Scalar> operator()(const Vector3<Scalar>& x) const - { - return Vector3<Scalar>(m_basis[0].dot(x) + m_origin[0], - m_basis[1].dot(x) + m_origin[1], - m_basis[2].dot(x) + m_origin[2]); - } - - Vector3<Scalar> operator*(const Vector3<Scalar>& x) const - { - return (*this)(x); - } - - Matrix3x3<Scalar>& getBasis() { return m_basis; } - const Matrix3x3<Scalar>& getBasis() const { return m_basis; } - - Vector3<Scalar>& getOrigin() { return m_origin; } - const Vector3<Scalar>& getOrigin() const { return m_origin; } - - Quaternion<Scalar> getRotation() const { return m_basis.getRotation(); } - template <typename Scalar2> - void setValue(const Scalar2 *m) - { - m_basis.setValue(m); - m_origin.setValue(&m[12]); - m_type = AFFINE; - } - - template <typename Scalar2> - void getValue(Scalar2 *m) const - { - m_basis.getValue(m); - m_origin.getValue(&m[12]); - m[15] = Scalar2(1.0); - } - - void setOrigin(const Vector3<Scalar>& origin) - { - m_origin = origin; - m_type |= TRANSLATION; - } - - void setBasis(const Matrix3x3<Scalar>& basis) - { - m_basis = basis; - m_type |= LINEAR; - } - - void setRotation(const Quaternion<Scalar>& q) - { - m_basis.setRotation(q); - m_type = (m_type & ~LINEAR) | ROTATION; - } - - void scale(const Vector3<Scalar>& scaling) - { - m_basis = m_basis.scaled(scaling); - m_type |= SCALING; - } - - void setIdentity() - { - m_basis.setIdentity(); - m_origin.setValue(Scalar(0.0), Scalar(0.0), Scalar(0.0)); - m_type = 0x0; - } - - bool isIdentity() const { return m_type == 0x0; } - - Transform<Scalar>& operator*=(const Transform<Scalar>& t) - { - m_origin += m_basis * t.m_origin; - m_basis *= t.m_basis; - m_type |= t.m_type; - return *this; - } - - Transform<Scalar> inverse() const - { - Matrix3x3<Scalar> inv = (m_type & SCALING) ? - m_basis.inverse() : - m_basis.transpose(); - - return Transform<Scalar>(inv, inv * -m_origin, m_type); - } - - Transform<Scalar> inverseTimes(const Transform<Scalar>& t) const; - - Transform<Scalar> operator*(const Transform<Scalar>& t) const; - - private: - - Matrix3x3<Scalar> m_basis; - Vector3<Scalar> m_origin; - unsigned int m_type; - }; - - - template <typename Scalar> - inline Transform<Scalar> - Transform<Scalar>::inverseTimes(const Transform<Scalar>& t) const - { - Vector3<Scalar> v = t.getOrigin() - m_origin; - if (m_type & SCALING) - { - Matrix3x3<Scalar> inv = m_basis.inverse(); - return Transform<Scalar>(inv * t.getBasis(), inv * v, - m_type | t.m_type); - } - else - { - return Transform<Scalar>(m_basis.transposeTimes(t.m_basis), - v * m_basis, m_type | t.m_type); - } - } - - template <typename Scalar> - inline Transform<Scalar> - Transform<Scalar>::operator*(const Transform<Scalar>& t) const - { - return Transform<Scalar>(m_basis * t.m_basis, - (*this)(t.m_origin), - m_type | t.m_type); - } -} - -#endif |