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/*
* ***** BEGIN GPL 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.
*
* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
*/
/** \file moto/intern/MT_Transform.cpp
* \ingroup moto
*/
/*
MOTTO - 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.
*/
#include "MT_Transform.h"
MT_Transform& MT_Transform::operator*=(const MT_Transform& t) {
m_origin += m_basis * t.m_origin;
m_basis *= t.m_basis;
m_type |= t.m_type;
return *this;
}
void MT_Transform::translate(const MT_Vector3& v) {
m_origin += m_basis * v;
m_type |= TRANSLATION;
}
void MT_Transform::rotate(const MT_Quaternion& q) {
m_basis *= MT_Matrix3x3(q);
m_type |= ROTATION;
}
void MT_Transform::scale(MT_Scalar x, MT_Scalar y, MT_Scalar z) {
m_basis.scale(x, y, z);
m_type |= SCALING;
}
void MT_Transform::setIdentity() {
m_basis.setIdentity();
m_origin.setValue(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0));
m_type = IDENTITY;
}
void MT_Transform::invert(const MT_Transform& t) {
m_basis = t.m_type & SCALING ?
t.m_basis.inverse() :
t.m_basis.transposed();
m_origin.setValue(-MT_dot(m_basis[0], t.m_origin),
-MT_dot(m_basis[1], t.m_origin),
-MT_dot(m_basis[2], t.m_origin));
m_type = t.m_type;
}
void MT_Transform::mult(const MT_Transform& t1, const MT_Transform& t2) {
m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin);
m_type = t1.m_type | t2.m_type;
}
void MT_Transform::multInverseLeft(const MT_Transform& t1, const MT_Transform& t2) {
MT_Vector3 v = t2.m_origin - t1.m_origin;
if (t1.m_type & SCALING) {
MT_Matrix3x3 inv = t1.m_basis.inverse();
m_basis = inv * t2.m_basis;
m_origin = inv * v;
}
else {
m_basis = MT_multTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
}
m_type = t1.m_type | t2.m_type;
}
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