Transform.hpp

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/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
 
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:
 
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
 
 
 
#ifndef TF2__LINEARMATH__TRANSFORM_HPP
#define TF2__LINEARMATH__TRANSFORM_HPP
 
 
#include "Matrix3x3.hpp"
#include "tf2/visibility_control.h"
 
 
namespace tf2
{
 
#define TransformData TransformDoubleData
 

class Transform {
    
    Matrix3x3 m_basis;
    Vector3   m_origin;
 
public:
    
        TF2_PUBLIC
    Transform() {}
    explicit TF2SIMD_FORCE_INLINE Transform(const Quaternion& q, 
        const Vector3& c = Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0))) 
        : m_basis(q),
        m_origin(c)
    {}

    explicit TF2SIMD_FORCE_INLINE Transform(const Matrix3x3& b, 
        const Vector3& c = Vector3(tf2Scalar(0), tf2Scalar(0), tf2Scalar(0)))
        : m_basis(b),
        m_origin(c)
    {}

    TF2SIMD_FORCE_INLINE Transform (const Transform& other)
        : m_basis(other.m_basis),
        m_origin(other.m_origin)
    {
    }

    TF2SIMD_FORCE_INLINE Transform& operator=(const Transform& other)
    {
        m_basis = other.m_basis;
        m_origin = other.m_origin;
        return *this;
    }

        TF2SIMD_FORCE_INLINE void mult(const Transform& t1, const Transform& t2) {
            m_basis = t1.m_basis * t2.m_basis;
            m_origin = t1(t2.m_origin);
        }
 
/*      void multInverseLeft(const Transform& t1, const Transform& t2) {
            Vector3 v = t2.m_origin - t1.m_origin;
            m_basis = tf2MultTransposeLeft(t1.m_basis, t2.m_basis);
            m_origin = v * t1.m_basis;
        }
        */

    TF2SIMD_FORCE_INLINE Vector3 operator()(const Vector3& x) const
    {
        return Vector3(m_basis[0].dot(x) + m_origin.x(), 
            m_basis[1].dot(x) + m_origin.y(), 
            m_basis[2].dot(x) + m_origin.z());
    }

    TF2SIMD_FORCE_INLINE Vector3 operator*(const Vector3& x) const
    {
        return (*this)(x);
    }

    TF2SIMD_FORCE_INLINE Quaternion operator*(const Quaternion& q) const
    {
        return getRotation() * q;
    }

    TF2SIMD_FORCE_INLINE Matrix3x3&       getBasis()          { return m_basis; }
    TF2SIMD_FORCE_INLINE const Matrix3x3& getBasis()    const { return m_basis; }

    TF2SIMD_FORCE_INLINE Vector3&         getOrigin()         { return m_origin; }
    TF2SIMD_FORCE_INLINE const Vector3&   getOrigin()   const { return m_origin; }

        TF2_PUBLIC
    Quaternion getRotation() const { 
        Quaternion q;
        m_basis.getRotation(q);
        return q;
    }
    
    
        TF2_PUBLIC
    void setFromOpenGLMatrix(const tf2Scalar *m)
    {
        m_basis.setFromOpenGLSubMatrix(m);
        m_origin.setValue(m[12],m[13],m[14]);
    }

        TF2_PUBLIC
    void getOpenGLMatrix(tf2Scalar *m) const 
    {
        m_basis.getOpenGLSubMatrix(m);
        m[12] = m_origin.x();
        m[13] = m_origin.y();
        m[14] = m_origin.z();
        m[15] = tf2Scalar(1.0);
    }

    TF2SIMD_FORCE_INLINE void setOrigin(const Vector3& origin) 
    { 
        m_origin = origin;
    }
 
    TF2SIMD_FORCE_INLINE Vector3 invXform(const Vector3& inVec) const;
 

    TF2SIMD_FORCE_INLINE void setBasis(const Matrix3x3& basis)
    { 
        m_basis = basis;
    }

    TF2SIMD_FORCE_INLINE void setRotation(const Quaternion& q)
    {
        m_basis.setRotation(q);
    }
 

        TF2_PUBLIC
    void setIdentity()
    {
        m_basis.setIdentity();
        m_origin.setValue(tf2Scalar(0.0), tf2Scalar(0.0), tf2Scalar(0.0));
    }

        TF2_PUBLIC
    Transform& operator*=(const Transform& t) 
    {
        m_origin += m_basis * t.m_origin;
        m_basis *= t.m_basis;
        return *this;
    }

        TF2_PUBLIC
    Transform inverse() const
    { 
        Matrix3x3 inv = m_basis.transpose();
        return Transform(inv, inv * -m_origin);
    }

        TF2_PUBLIC
    Transform inverseTimes(const Transform& t) const;  

        TF2_PUBLIC
    Transform operator*(const Transform& t) const;

        TF2_PUBLIC
    static const Transform& getIdentity()
    {
        static const Transform identityTransform(Matrix3x3::getIdentity());
        return identityTransform;
    }
 
        TF2_PUBLIC
    void    serialize(struct    TransformData& dataOut) const;
 
        TF2_PUBLIC
    void    serializeFloat(struct   TransformFloatData& dataOut) const;
 
        TF2_PUBLIC
    void    deSerialize(const struct    TransformData& dataIn);
 
        TF2_PUBLIC
    void    deSerializeDouble(const struct  TransformDoubleData& dataIn);
 
        TF2_PUBLIC
    void    deSerializeFloat(const struct   TransformFloatData& dataIn);
 
};
 
 
TF2SIMD_FORCE_INLINE Vector3
Transform::invXform(const Vector3& inVec) const
{
    Vector3 v = inVec - m_origin;
    return (m_basis.transpose() * v);
}
 
TF2SIMD_FORCE_INLINE Transform 
Transform::inverseTimes(const Transform& t) const  
{
    Vector3 v = t.getOrigin() - m_origin;
        return Transform(m_basis.transposeTimes(t.m_basis),
            v * m_basis);
}
 
TF2SIMD_FORCE_INLINE Transform 
Transform::operator*(const Transform& t) const
{
    return Transform(m_basis * t.m_basis, 
        (*this)(t.m_origin));
}

TF2SIMD_FORCE_INLINE bool operator==(const Transform& t1, const Transform& t2)
{
   return ( t1.getBasis()  == t2.getBasis() &&
            t1.getOrigin() == t2.getOrigin() );
}
 

struct  TransformFloatData
{
    Matrix3x3FloatData  m_basis;
    Vector3FloatData    m_origin;
};
 
struct  TransformDoubleData
{
    Matrix3x3DoubleData m_basis;
    Vector3DoubleData   m_origin;
};
 
 
 
TF2SIMD_FORCE_INLINE    void    Transform::serialize(TransformData& dataOut) const
{
    m_basis.serialize(dataOut.m_basis);
    m_origin.serialize(dataOut.m_origin);
}
 
TF2SIMD_FORCE_INLINE    void    Transform::serializeFloat(TransformFloatData& dataOut) const
{
    m_basis.serializeFloat(dataOut.m_basis);
    m_origin.serializeFloat(dataOut.m_origin);
}
 
 
TF2SIMD_FORCE_INLINE    void    Transform::deSerialize(const TransformData& dataIn)
{
    m_basis.deSerialize(dataIn.m_basis);
    m_origin.deSerialize(dataIn.m_origin);
}
 
TF2SIMD_FORCE_INLINE    void    Transform::deSerializeFloat(const TransformFloatData& dataIn)
{
    m_basis.deSerializeFloat(dataIn.m_basis);
    m_origin.deSerializeFloat(dataIn.m_origin);
}
 
TF2SIMD_FORCE_INLINE    void    Transform::deSerializeDouble(const TransformDoubleData& dataIn)
{
    m_basis.deSerializeDouble(dataIn.m_basis);
    m_origin.deSerializeDouble(dataIn.m_origin);
}
 
}
 
#endif  // TF2__LINEARMATH__TRANSFORM_HPP