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