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source: code/trunk/src/external/bullet/LinearMath/btTransform.h @ 12161

Last change on this file since 12161 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 8.6 KB
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1/*
2Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
3
4This software is provided 'as-is', without any express or implied warranty.
5In no event will the authors be held liable for any damages arising from the use of this software.
6Permission is granted to anyone to use this software for any purpose,
7including commercial applications, and to alter it and redistribute it freely,
8subject to the following restrictions:
9
101. 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.
112. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
123. This notice may not be removed or altered from any source distribution.
13*/
14
15
16
17#ifndef BT_TRANSFORM_H
18#define BT_TRANSFORM_H
19
20
21#include "btMatrix3x3.h"
22
23#ifdef BT_USE_DOUBLE_PRECISION
24#define btTransformData btTransformDoubleData
25#else
26#define btTransformData btTransformFloatData
27#endif
28
29
30
31
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. */
34class btTransform {
35       
36  ///Storage for the rotation
37        btMatrix3x3 m_basis;
38  ///Storage for the translation
39        btVector3   m_origin;
40
41public:
42       
43  /**@brief No initialization constructor */
44        btTransform() {}
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))) 
50                : m_basis(q),
51                m_origin(c)
52        {}
53
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)))
59                : m_basis(b),
60                m_origin(c)
61        {}
62  /**@brief Copy constructor */
63        SIMD_FORCE_INLINE btTransform (const btTransform& other)
64                : m_basis(other.m_basis),
65                m_origin(other.m_origin)
66        {
67        }
68  /**@brief Assignment Operator */
69        SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
70        {
71                m_basis = other.m_basis;
72                m_origin = other.m_origin;
73                return *this;
74        }
75
76
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);
84                }
85
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;
90                }
91                */
92
93/**@brief Return the transform of the vector */
94        SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
95        {
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());
99        }
100
101  /**@brief Return the transform of the vector */
102        SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
103        {
104                return (*this)(x);
105        }
106
107  /**@brief Return the transform of the btQuaternion */
108        SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
109        {
110                return getRotation() * q;
111        }
112
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; }
117
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; }
122
123  /**@brief Return a quaternion representing the rotation */
124        btQuaternion getRotation() const { 
125                btQuaternion q;
126                m_basis.getRotation(q);
127                return q;
128        }
129       
130       
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)
134        {
135                m_basis.setFromOpenGLSubMatrix(m);
136                m_origin.setValue(m[12],m[13],m[14]);
137        }
138
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 
142        {
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);
148        }
149
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) 
153        { 
154                m_origin = origin;
155        }
156
157        SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
158
159
160  /**@brief Set the rotational element by btMatrix3x3 */
161        SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
162        { 
163                m_basis = basis;
164        }
165
166  /**@brief Set the rotational element by btQuaternion */
167        SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
168        {
169                m_basis.setRotation(q);
170        }
171
172
173  /**@brief Set this transformation to the identity */
174        void setIdentity()
175        {
176                m_basis.setIdentity();
177                m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
178        }
179
180  /**@brief Multiply this Transform by another(this = this * another)
181   * @param t The other transform */
182        btTransform& operator*=(const btTransform& t) 
183        {
184                m_origin += m_basis * t.m_origin;
185                m_basis *= t.m_basis;
186                return *this;
187        }
188
189  /**@brief Return the inverse of this transform */
190        btTransform inverse() const
191        { 
192                btMatrix3x3 inv = m_basis.transpose();
193                return btTransform(inv, inv * -m_origin);
194        }
195
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; 
200
201  /**@brief Return the product of this transform and the other */
202        btTransform operator*(const btTransform& t) const;
203
204  /**@brief Return an identity transform */
205        static const btTransform&       getIdentity()
206        {
207                static const btTransform identityTransform(btMatrix3x3::getIdentity());
208                return identityTransform;
209        }
210
211        void    serialize(struct        btTransformData& dataOut) const;
212
213        void    serializeFloat(struct   btTransformFloatData& dataOut) const;
214
215        void    deSerialize(const struct        btTransformData& dataIn);
216
217        void    deSerializeDouble(const struct  btTransformDoubleData& dataIn);
218
219        void    deSerializeFloat(const struct   btTransformFloatData& dataIn);
220
221};
222
223
224SIMD_FORCE_INLINE btVector3
225btTransform::invXform(const btVector3& inVec) const
226{
227        btVector3 v = inVec - m_origin;
228        return (m_basis.transpose() * v);
229}
230
231SIMD_FORCE_INLINE btTransform
232btTransform::inverseTimes(const btTransform& t) const 
233{
234        btVector3 v = t.getOrigin() - m_origin;
235                return btTransform(m_basis.transposeTimes(t.m_basis),
236                        v * m_basis);
237}
238
239SIMD_FORCE_INLINE btTransform
240btTransform::operator*(const btTransform& t) const
241{
242        return btTransform(m_basis * t.m_basis, 
243                (*this)(t.m_origin));
244}
245
246/**@brief Test if two transforms have all elements equal */
247SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
248{
249   return ( t1.getBasis()  == t2.getBasis() &&
250            t1.getOrigin() == t2.getOrigin() );
251}
252
253
254///for serialization
255struct  btTransformFloatData
256{
257        btMatrix3x3FloatData    m_basis;
258        btVector3FloatData      m_origin;
259};
260
261struct  btTransformDoubleData
262{
263        btMatrix3x3DoubleData   m_basis;
264        btVector3DoubleData     m_origin;
265};
266
267
268
269SIMD_FORCE_INLINE       void    btTransform::serialize(btTransformData& dataOut) const
270{
271        m_basis.serialize(dataOut.m_basis);
272        m_origin.serialize(dataOut.m_origin);
273}
274
275SIMD_FORCE_INLINE       void    btTransform::serializeFloat(btTransformFloatData& dataOut) const
276{
277        m_basis.serializeFloat(dataOut.m_basis);
278        m_origin.serializeFloat(dataOut.m_origin);
279}
280
281
282SIMD_FORCE_INLINE       void    btTransform::deSerialize(const btTransformData& dataIn)
283{
284        m_basis.deSerialize(dataIn.m_basis);
285        m_origin.deSerialize(dataIn.m_origin);
286}
287
288SIMD_FORCE_INLINE       void    btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
289{
290        m_basis.deSerializeFloat(dataIn.m_basis);
291        m_origin.deSerializeFloat(dataIn.m_origin);
292}
293
294SIMD_FORCE_INLINE       void    btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
295{
296        m_basis.deSerializeDouble(dataIn.m_basis);
297        m_origin.deSerializeDouble(dataIn.m_origin);
298}
299
300
301#endif //BT_TRANSFORM_H
302
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