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/*
* 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
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