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286 lines
8.5 KiB
C++
286 lines
8.5 KiB
C++
/*
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_TRANSFORM_H
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#define BT_TRANSFORM_H
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#include "btMatrix3x3.h"
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btTransformData btTransformDoubleData
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#else
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#define btTransformData btTransformFloatData
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#endif
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/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
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*It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
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ATTRIBUTE_ALIGNED16(class)
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btTransform
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{
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///Storage for the rotation
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btMatrix3x3 m_basis;
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///Storage for the translation
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btVector3 m_origin;
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public:
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/**@brief No initialization constructor */
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btTransform() {}
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/**@brief Constructor from btQuaternion (optional btVector3 )
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* @param q Rotation from quaternion
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* @param c Translation from Vector (default 0,0,0) */
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explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
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const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
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: m_basis(q),
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m_origin(c)
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{
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}
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/**@brief Constructor from btMatrix3x3 (optional btVector3)
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* @param b Rotation from Matrix
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* @param c Translation from Vector default (0,0,0)*/
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explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
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const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
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: m_basis(b),
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m_origin(c)
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{
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}
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/**@brief Copy constructor */
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SIMD_FORCE_INLINE btTransform(const btTransform& other)
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: m_basis(other.m_basis),
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m_origin(other.m_origin)
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{
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}
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/**@brief Assignment Operator */
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SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
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{
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m_basis = other.m_basis;
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m_origin = other.m_origin;
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return *this;
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}
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/**@brief Set the current transform as the value of the product of two transforms
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* @param t1 Transform 1
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* @param t2 Transform 2
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* This = Transform1 * Transform2 */
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SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2)
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{
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m_basis = t1.m_basis * t2.m_basis;
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m_origin = t1(t2.m_origin);
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}
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/* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
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btVector3 v = t2.m_origin - t1.m_origin;
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m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
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m_origin = v * t1.m_basis;
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}
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*/
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/**@brief Return the transform of the vector */
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SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
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{
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return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
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}
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/**@brief Return the transform of the vector */
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SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
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{
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return (*this)(x);
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}
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/**@brief Return the transform of the btQuaternion */
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SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
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{
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return getRotation() * q;
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}
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/**@brief Return the basis matrix for the rotation */
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SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
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/**@brief Return the basis matrix for the rotation */
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SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
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/**@brief Return the origin vector translation */
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SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
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/**@brief Return the origin vector translation */
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SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
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/**@brief Return a quaternion representing the rotation */
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btQuaternion getRotation() const
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{
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btQuaternion q;
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m_basis.getRotation(q);
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return q;
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}
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/**@brief Set from an array
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* @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
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void setFromOpenGLMatrix(const btScalar* m)
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{
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m_basis.setFromOpenGLSubMatrix(m);
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m_origin.setValue(m[12], m[13], m[14]);
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}
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/**@brief Fill an array representation
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* @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
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void getOpenGLMatrix(btScalar * m) const
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{
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m_basis.getOpenGLSubMatrix(m);
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m[12] = m_origin.x();
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m[13] = m_origin.y();
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m[14] = m_origin.z();
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m[15] = btScalar(1.0);
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}
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/**@brief Set the translational element
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* @param origin The vector to set the translation to */
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SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
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{
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m_origin = origin;
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}
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SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
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/**@brief Set the rotational element by btMatrix3x3 */
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SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
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{
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m_basis = basis;
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}
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/**@brief Set the rotational element by btQuaternion */
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SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
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{
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m_basis.setRotation(q);
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}
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/**@brief Set this transformation to the identity */
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void setIdentity()
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{
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m_basis.setIdentity();
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m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
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}
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/**@brief Multiply this Transform by another(this = this * another)
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* @param t The other transform */
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btTransform& operator*=(const btTransform& t)
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{
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m_origin += m_basis * t.m_origin;
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m_basis *= t.m_basis;
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return *this;
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}
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/**@brief Return the inverse of this transform */
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btTransform inverse() const
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{
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btMatrix3x3 inv = m_basis.transpose();
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return btTransform(inv, inv * -m_origin);
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}
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/**@brief Return the inverse of this transform times the other transform
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* @param t The other transform
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* return this.inverse() * the other */
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btTransform inverseTimes(const btTransform& t) const;
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/**@brief Return the product of this transform and the other */
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btTransform operator*(const btTransform& t) const;
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/**@brief Return an identity transform */
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static const btTransform& getIdentity()
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{
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static const btTransform identityTransform(btMatrix3x3::getIdentity());
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return identityTransform;
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}
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void serialize(struct btTransformData & dataOut) const;
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void serializeFloat(struct btTransformFloatData & dataOut) const;
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void deSerialize(const struct btTransformData& dataIn);
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void deSerializeDouble(const struct btTransformDoubleData& dataIn);
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void deSerializeFloat(const struct btTransformFloatData& dataIn);
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};
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SIMD_FORCE_INLINE btVector3
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btTransform::invXform(const btVector3& inVec) const
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{
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btVector3 v = inVec - m_origin;
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return (m_basis.transpose() * v);
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}
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SIMD_FORCE_INLINE btTransform
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btTransform::inverseTimes(const btTransform& t) const
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{
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btVector3 v = t.getOrigin() - m_origin;
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return btTransform(m_basis.transposeTimes(t.m_basis),
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v * m_basis);
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}
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SIMD_FORCE_INLINE btTransform
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btTransform::operator*(const btTransform& t) const
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{
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return btTransform(m_basis * t.m_basis,
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(*this)(t.m_origin));
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}
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/**@brief Test if two transforms have all elements equal */
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SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
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{
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return (t1.getBasis() == t2.getBasis() &&
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t1.getOrigin() == t2.getOrigin());
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}
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///for serialization
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struct btTransformFloatData
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{
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btMatrix3x3FloatData m_basis;
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btVector3FloatData m_origin;
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};
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struct btTransformDoubleData
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{
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btMatrix3x3DoubleData m_basis;
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btVector3DoubleData m_origin;
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};
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SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
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{
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m_basis.serialize(dataOut.m_basis);
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m_origin.serialize(dataOut.m_origin);
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}
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SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
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{
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m_basis.serializeFloat(dataOut.m_basis);
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m_origin.serializeFloat(dataOut.m_origin);
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}
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SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
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{
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m_basis.deSerialize(dataIn.m_basis);
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m_origin.deSerialize(dataIn.m_origin);
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}
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SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
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{
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m_basis.deSerializeFloat(dataIn.m_basis);
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m_origin.deSerializeFloat(dataIn.m_origin);
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}
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SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
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{
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m_basis.deSerializeDouble(dataIn.m_basis);
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m_origin.deSerializeDouble(dataIn.m_origin);
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}
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#endif //BT_TRANSFORM_H
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