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/**
* $Id$
* ***** 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
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