2 Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
4 This software is provided 'as-is', without any express or implied warranty.
5 In no event will the authors be held liable for any damages arising from the use of this software.
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7 including commercial applications, and to alter it and redistribute it freely,
8 subject to the following restrictions:
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17 #ifndef BT_TRANSFORM_H
18 #define BT_TRANSFORM_H
21 #include "btMatrix3x3.h"
23 #ifdef BT_USE_DOUBLE_PRECISION
24 #define btTransformData btTransformDoubleData
26 #define btTransformData btTransformFloatData
32 /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
33 *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
36 ///Storage for the rotation
38 ///Storage for the translation
43 /**@brief No initialization constructor */
45 /**@brief Constructor from btQuaternion (optional btVector3 )
46 * @param q Rotation from quaternion
47 * @param c Translation from Vector (default 0,0,0) */
48 explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
49 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
54 /**@brief Constructor from btMatrix3x3 (optional btVector3)
55 * @param b Rotation from Matrix
56 * @param c Translation from Vector default (0,0,0)*/
57 explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
58 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
62 /**@brief Copy constructor */
63 SIMD_FORCE_INLINE btTransform (const btTransform& other)
64 : m_basis(other.m_basis),
65 m_origin(other.m_origin)
68 /**@brief Assignment Operator */
69 SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
71 m_basis = other.m_basis;
72 m_origin = other.m_origin;
77 /**@brief Set the current transform as the value of the product of two transforms
78 * @param t1 Transform 1
79 * @param t2 Transform 2
80 * This = Transform1 * Transform2 */
81 SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
82 m_basis = t1.m_basis * t2.m_basis;
83 m_origin = t1(t2.m_origin);
86 /* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
87 btVector3 v = t2.m_origin - t1.m_origin;
88 m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
89 m_origin = v * t1.m_basis;
93 /**@brief Return the transform of the vector */
94 SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
96 return btVector3(m_basis[0].dot(x) + m_origin.x(),
97 m_basis[1].dot(x) + m_origin.y(),
98 m_basis[2].dot(x) + m_origin.z());
101 /**@brief Return the transform of the vector */
102 SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
107 /**@brief Return the transform of the btQuaternion */
108 SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
110 return getRotation() * q;
113 /**@brief Return the basis matrix for the rotation */
114 SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
115 /**@brief Return the basis matrix for the rotation */
116 SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
118 /**@brief Return the origin vector translation */
119 SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
120 /**@brief Return the origin vector translation */
121 SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
123 /**@brief Return a quaternion representing the rotation */
124 btQuaternion getRotation() const {
126 m_basis.getRotation(q);
131 /**@brief Set from an array
132 * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
133 void setFromOpenGLMatrix(const btScalar *m)
135 m_basis.setFromOpenGLSubMatrix(m);
136 m_origin.setValue(m[12],m[13],m[14]);
139 /**@brief Fill an array representation
140 * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
141 void getOpenGLMatrix(btScalar *m) const
143 m_basis.getOpenGLSubMatrix(m);
144 m[12] = m_origin.x();
145 m[13] = m_origin.y();
146 m[14] = m_origin.z();
147 m[15] = btScalar(1.0);
150 /**@brief Set the translational element
151 * @param origin The vector to set the translation to */
152 SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
157 SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
160 /**@brief Set the rotational element by btMatrix3x3 */
161 SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
166 /**@brief Set the rotational element by btQuaternion */
167 SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
169 m_basis.setRotation(q);
173 /**@brief Set this transformation to the identity */
176 m_basis.setIdentity();
177 m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
180 /**@brief Multiply this Transform by another(this = this * another)
181 * @param t The other transform */
182 btTransform& operator*=(const btTransform& t)
184 m_origin += m_basis * t.m_origin;
185 m_basis *= t.m_basis;
189 /**@brief Return the inverse of this transform */
190 btTransform inverse() const
192 btMatrix3x3 inv = m_basis.transpose();
193 return btTransform(inv, inv * -m_origin);
196 /**@brief Return the inverse of this transform times the other transform
197 * @param t The other transform
198 * return this.inverse() * the other */
199 btTransform inverseTimes(const btTransform& t) const;
201 /**@brief Return the product of this transform and the other */
202 btTransform operator*(const btTransform& t) const;
204 /**@brief Return an identity transform */
205 static const btTransform& getIdentity()
207 static const btTransform identityTransform(btMatrix3x3::getIdentity());
208 return identityTransform;
211 void serialize(struct btTransformData& dataOut) const;
213 void serializeFloat(struct btTransformFloatData& dataOut) const;
215 void deSerialize(const struct btTransformData& dataIn);
217 void deSerializeDouble(const struct btTransformDoubleData& dataIn);
219 void deSerializeFloat(const struct btTransformFloatData& dataIn);
224 SIMD_FORCE_INLINE btVector3
225 btTransform::invXform(const btVector3& inVec) const
227 btVector3 v = inVec - m_origin;
228 return (m_basis.transpose() * v);
231 SIMD_FORCE_INLINE btTransform
232 btTransform::inverseTimes(const btTransform& t) const
234 btVector3 v = t.getOrigin() - m_origin;
235 return btTransform(m_basis.transposeTimes(t.m_basis),
239 SIMD_FORCE_INLINE btTransform
240 btTransform::operator*(const btTransform& t) const
242 return btTransform(m_basis * t.m_basis,
243 (*this)(t.m_origin));
246 /**@brief Test if two transforms have all elements equal */
247 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
249 return ( t1.getBasis() == t2.getBasis() &&
250 t1.getOrigin() == t2.getOrigin() );
255 struct btTransformFloatData
257 btMatrix3x3FloatData m_basis;
258 btVector3FloatData m_origin;
261 struct btTransformDoubleData
263 btMatrix3x3DoubleData m_basis;
264 btVector3DoubleData m_origin;
269 SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
271 m_basis.serialize(dataOut.m_basis);
272 m_origin.serialize(dataOut.m_origin);
275 SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
277 m_basis.serializeFloat(dataOut.m_basis);
278 m_origin.serializeFloat(dataOut.m_origin);
282 SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
284 m_basis.deSerialize(dataIn.m_basis);
285 m_origin.deSerialize(dataIn.m_origin);
288 SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
290 m_basis.deSerializeFloat(dataIn.m_basis);
291 m_origin.deSerializeFloat(dataIn.m_origin);
294 SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
296 m_basis.deSerializeDouble(dataIn.m_basis);
297 m_origin.deSerializeDouble(dataIn.m_origin);
301 #endif //BT_TRANSFORM_H