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. */
34 ATTRIBUTE_ALIGNED16(class) btTransform {
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 x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
99 /**@brief Return the transform of the vector */
100 SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
105 /**@brief Return the transform of the btQuaternion */
106 SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
108 return getRotation() * q;
111 /**@brief Return the basis matrix for the rotation */
112 SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
113 /**@brief Return the basis matrix for the rotation */
114 SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
116 /**@brief Return the origin vector translation */
117 SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
118 /**@brief Return the origin vector translation */
119 SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
121 /**@brief Return a quaternion representing the rotation */
122 btQuaternion getRotation() const {
124 m_basis.getRotation(q);
129 /**@brief Set from an array
130 * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
131 void setFromOpenGLMatrix(const btScalar *m)
133 m_basis.setFromOpenGLSubMatrix(m);
134 m_origin.setValue(m[12],m[13],m[14]);
137 /**@brief Fill an array representation
138 * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
139 void getOpenGLMatrix(btScalar *m) const
141 m_basis.getOpenGLSubMatrix(m);
142 m[12] = m_origin.x();
143 m[13] = m_origin.y();
144 m[14] = m_origin.z();
145 m[15] = btScalar(1.0);
148 /**@brief Set the translational element
149 * @param origin The vector to set the translation to */
150 SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
155 SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
158 /**@brief Set the rotational element by btMatrix3x3 */
159 SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
164 /**@brief Set the rotational element by btQuaternion */
165 SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
167 m_basis.setRotation(q);
171 /**@brief Set this transformation to the identity */
174 m_basis.setIdentity();
175 m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
178 /**@brief Multiply this Transform by another(this = this * another)
179 * @param t The other transform */
180 btTransform& operator*=(const btTransform& t)
182 m_origin += m_basis * t.m_origin;
183 m_basis *= t.m_basis;
187 /**@brief Return the inverse of this transform */
188 btTransform inverse() const
190 btMatrix3x3 inv = m_basis.transpose();
191 return btTransform(inv, inv * -m_origin);
194 /**@brief Return the inverse of this transform times the other transform
195 * @param t The other transform
196 * return this.inverse() * the other */
197 btTransform inverseTimes(const btTransform& t) const;
199 /**@brief Return the product of this transform and the other */
200 btTransform operator*(const btTransform& t) const;
202 /**@brief Return an identity transform */
203 static const btTransform& getIdentity()
205 static const btTransform identityTransform(btMatrix3x3::getIdentity());
206 return identityTransform;
209 void serialize(struct btTransformData& dataOut) const;
211 void serializeFloat(struct btTransformFloatData& dataOut) const;
213 void deSerialize(const struct btTransformData& dataIn);
215 void deSerializeDouble(const struct btTransformDoubleData& dataIn);
217 void deSerializeFloat(const struct btTransformFloatData& dataIn);
222 SIMD_FORCE_INLINE btVector3
223 btTransform::invXform(const btVector3& inVec) const
225 btVector3 v = inVec - m_origin;
226 return (m_basis.transpose() * v);
229 SIMD_FORCE_INLINE btTransform
230 btTransform::inverseTimes(const btTransform& t) const
232 btVector3 v = t.getOrigin() - m_origin;
233 return btTransform(m_basis.transposeTimes(t.m_basis),
237 SIMD_FORCE_INLINE btTransform
238 btTransform::operator*(const btTransform& t) const
240 return btTransform(m_basis * t.m_basis,
241 (*this)(t.m_origin));
244 /**@brief Test if two transforms have all elements equal */
245 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
247 return ( t1.getBasis() == t2.getBasis() &&
248 t1.getOrigin() == t2.getOrigin() );
253 struct btTransformFloatData
255 btMatrix3x3FloatData m_basis;
256 btVector3FloatData m_origin;
259 struct btTransformDoubleData
261 btMatrix3x3DoubleData m_basis;
262 btVector3DoubleData m_origin;
267 SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
269 m_basis.serialize(dataOut.m_basis);
270 m_origin.serialize(dataOut.m_origin);
273 SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
275 m_basis.serializeFloat(dataOut.m_basis);
276 m_origin.serializeFloat(dataOut.m_origin);
280 SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
282 m_basis.deSerialize(dataIn.m_basis);
283 m_origin.deSerialize(dataIn.m_origin);
286 SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
288 m_basis.deSerializeFloat(dataIn.m_basis);
289 m_origin.deSerializeFloat(dataIn.m_origin);
292 SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
294 m_basis.deSerializeDouble(dataIn.m_basis);
295 m_origin.deSerializeDouble(dataIn.m_origin);
299 #endif //BT_TRANSFORM_H