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Diffstat (limited to 'intern/moto/include/MT_Transform.h')
| -rw-r--r-- | intern/moto/include/MT_Transform.h | 172 |
1 files changed, 172 insertions, 0 deletions
diff --git a/intern/moto/include/MT_Transform.h b/intern/moto/include/MT_Transform.h new file mode 100644 index 00000000000..73ad0c77fa5 --- /dev/null +++ b/intern/moto/include/MT_Transform.h @@ -0,0 +1,172 @@ +/** + * $Id$ + * ***** BEGIN GPL/BL DUAL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * The Original Code is: all of this file. + * + * Contributor(s): none yet. + * + * ***** END GPL/BL DUAL LICENSE BLOCK ***** + */ + +/* + + MoTo - 3D Motion Toolkit + Copyright (C) 2000 Gino van den Bergen <gino@acm.org> + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Library General Public + License as published by the Free Software Foundation; either + version 2 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Library General Public License for more details. + + You should have received a copy of the GNU Library General Public + License along with this library; if not, write to the Free + Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + +*/ + +#ifndef MT_TRANSFORM_H +#define MT_TRANSFORM_H + +#include "MT_Point3.h" +#include "MT_Matrix3x3.h" + +class MT_Transform { +public: + MT_Transform() {} + MT_Transform(const float *m) { setValue(m); } + MT_Transform(const double *m) { setValue(m); } + MT_Transform(const MT_Point3& p, const MT_Quaternion& q) { + setOrigin(p); + setRotation(q); + } + + MT_Transform(const MT_Point3& p, const MT_Matrix3x3& m) { + setOrigin(p); + setBasis(m); + } + + + + MT_Point3 operator()(const MT_Point3& p) const { + return MT_Point3(MT_dot(m_basis[0], p) + m_origin[0], + MT_dot(m_basis[1], p) + m_origin[1], + MT_dot(m_basis[2], p) + m_origin[2]); + } + + MT_Point3 operator*(const MT_Point3& p) const { + return (*this)(p); + } + + MT_Matrix3x3& getBasis() { return m_basis; } + const MT_Matrix3x3& getBasis() const { return m_basis; } + MT_Point3& getOrigin() { return m_origin; } + const MT_Point3& getOrigin() const { return m_origin; } + MT_Quaternion getRotation() const { return m_basis.getRotation(); } + + void setValue(const float *m); + void setValue(const double *m); + + void setOrigin(const MT_Point3& origin) { + m_origin = origin; + m_type |= TRANSLATION; + } + + void setBasis(const MT_Matrix3x3& basis) { + m_basis = basis; + m_type |= LINEAR; + } + + void setRotation(const MT_Quaternion& q) { + m_basis.setRotation(q); + m_type &= ~SCALING; + m_type |= ROTATION; + } + + void getValue(float *m) const; + void getValue(double *m) const; + + void setIdentity(); + + MT_Transform& operator*=(const MT_Transform& t); + + /** + * Translate the origin of the transform according to the vector. + * @param v The vector to translate over. The vector is specified + * in the coordinate system of the transform itself. + */ + void translate(const MT_Vector3& v); + void rotate(const MT_Quaternion& q); + void scale(MT_Scalar x, MT_Scalar y, MT_Scalar z); + + void invert(const MT_Transform& t); + void mult(const MT_Transform& t1, const MT_Transform& t2); + void multInverseLeft(const MT_Transform& t1, const MT_Transform& t2); + +private: + enum { + IDENTITY = 0x00, + TRANSLATION = 0x01, + ROTATION = 0x02, + RIGID = TRANSLATION | ROTATION, + SCALING = 0x04, + LINEAR = ROTATION | SCALING, + AFFINE = TRANSLATION | LINEAR + }; + + MT_Transform(const MT_Matrix3x3& basis, const MT_Point3& origin, + unsigned int type) { + setValue(basis, origin, type); + } + + void setValue(const MT_Matrix3x3& basis, const MT_Point3& origin, + unsigned int type) { + m_basis = basis; + m_origin = origin; + m_type = type; + } + + friend MT_Transform operator*(const MT_Transform& t1, const MT_Transform& t2); + + MT_Matrix3x3 m_basis; + MT_Point3 m_origin; + unsigned int m_type; +}; + +inline MT_Transform operator*(const MT_Transform& t1, const MT_Transform& t2) { + return MT_Transform(t1.m_basis * t2.m_basis, + t1(t2.m_origin), + t1.m_type | t2.m_type); +} + +#endif + + + + + |