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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Common/b3Transform.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Common/b3Transform.h | 304 |
1 files changed, 0 insertions, 304 deletions
diff --git a/thirdparty/bullet/src/Bullet3Common/b3Transform.h b/thirdparty/bullet/src/Bullet3Common/b3Transform.h deleted file mode 100644 index fa480759be..0000000000 --- a/thirdparty/bullet/src/Bullet3Common/b3Transform.h +++ /dev/null @@ -1,304 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -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 B3_TRANSFORM_H -#define B3_TRANSFORM_H - - -#include "b3Matrix3x3.h" - -#ifdef B3_USE_DOUBLE_PRECISION -#define b3TransformData b3TransformDoubleData -#else -#define b3TransformData b3TransformFloatData -#endif - - - - -/**@brief The b3Transform class supports rigid transforms with only translation and rotation and no scaling/shear. - *It can be used in combination with b3Vector3, b3Quaternion and b3Matrix3x3 linear algebra classes. */ -B3_ATTRIBUTE_ALIGNED16(class) b3Transform { - - ///Storage for the rotation - b3Matrix3x3 m_basis; - ///Storage for the translation - b3Vector3 m_origin; - -public: - - /**@brief No initialization constructor */ - b3Transform() {} - /**@brief Constructor from b3Quaternion (optional b3Vector3 ) - * @param q Rotation from quaternion - * @param c Translation from Vector (default 0,0,0) */ - explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q, - const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0))) - : m_basis(q), - m_origin(c) - {} - - /**@brief Constructor from b3Matrix3x3 (optional b3Vector3) - * @param b Rotation from Matrix - * @param c Translation from Vector default (0,0,0)*/ - explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b, - const b3Vector3& c = b3MakeVector3(b3Scalar(0), b3Scalar(0), b3Scalar(0))) - : m_basis(b), - m_origin(c) - {} - /**@brief Copy constructor */ - B3_FORCE_INLINE b3Transform (const b3Transform& other) - : m_basis(other.m_basis), - m_origin(other.m_origin) - { - } - /**@brief Assignment Operator */ - B3_FORCE_INLINE b3Transform& operator=(const b3Transform& other) - { - m_basis = other.m_basis; - m_origin = other.m_origin; - return *this; - } - - - /**@brief Set the current transform as the value of the product of two transforms - * @param t1 Transform 1 - * @param t2 Transform 2 - * This = Transform1 * Transform2 */ - B3_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2) { - m_basis = t1.m_basis * t2.m_basis; - m_origin = t1(t2.m_origin); - } - -/* void multInverseLeft(const b3Transform& t1, const b3Transform& t2) { - b3Vector3 v = t2.m_origin - t1.m_origin; - m_basis = b3MultTransposeLeft(t1.m_basis, t2.m_basis); - m_origin = v * t1.m_basis; - } - */ - -/**@brief Return the transform of the vector */ - B3_FORCE_INLINE b3Vector3 operator()(const b3Vector3& x) const - { - return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin; - } - - /**@brief Return the transform of the vector */ - B3_FORCE_INLINE b3Vector3 operator*(const b3Vector3& x) const - { - return (*this)(x); - } - - /**@brief Return the transform of the b3Quaternion */ - B3_FORCE_INLINE b3Quaternion operator*(const b3Quaternion& q) const - { - return getRotation() * q; - } - - /**@brief Return the basis matrix for the rotation */ - B3_FORCE_INLINE b3Matrix3x3& getBasis() { return m_basis; } - /**@brief Return the basis matrix for the rotation */ - B3_FORCE_INLINE const b3Matrix3x3& getBasis() const { return m_basis; } - - /**@brief Return the origin vector translation */ - B3_FORCE_INLINE b3Vector3& getOrigin() { return m_origin; } - /**@brief Return the origin vector translation */ - B3_FORCE_INLINE const b3Vector3& getOrigin() const { return m_origin; } - - /**@brief Return a quaternion representing the rotation */ - b3Quaternion getRotation() const { - b3Quaternion q; - m_basis.getRotation(q); - return q; - } - - - /**@brief Set from an array - * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */ - void setFromOpenGLMatrix(const b3Scalar *m) - { - m_basis.setFromOpenGLSubMatrix(m); - m_origin.setValue(m[12],m[13],m[14]); - } - - /**@brief Fill an array representation - * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */ - void getOpenGLMatrix(b3Scalar *m) const - { - m_basis.getOpenGLSubMatrix(m); - m[12] = m_origin.getX(); - m[13] = m_origin.getY(); - m[14] = m_origin.getZ(); - m[15] = b3Scalar(1.0); - } - - /**@brief Set the translational element - * @param origin The vector to set the translation to */ - B3_FORCE_INLINE void setOrigin(const b3Vector3& origin) - { - m_origin = origin; - } - - B3_FORCE_INLINE b3Vector3 invXform(const b3Vector3& inVec) const; - - - /**@brief Set the rotational element by b3Matrix3x3 */ - B3_FORCE_INLINE void setBasis(const b3Matrix3x3& basis) - { - m_basis = basis; - } - - /**@brief Set the rotational element by b3Quaternion */ - B3_FORCE_INLINE void setRotation(const b3Quaternion& q) - { - m_basis.setRotation(q); - } - - - /**@brief Set this transformation to the identity */ - void setIdentity() - { - m_basis.setIdentity(); - m_origin.setValue(b3Scalar(0.0), b3Scalar(0.0), b3Scalar(0.0)); - } - - /**@brief Multiply this Transform by another(this = this * another) - * @param t The other transform */ - b3Transform& operator*=(const b3Transform& t) - { - m_origin += m_basis * t.m_origin; - m_basis *= t.m_basis; - return *this; - } - - /**@brief Return the inverse of this transform */ - b3Transform inverse() const - { - b3Matrix3x3 inv = m_basis.transpose(); - return b3Transform(inv, inv * -m_origin); - } - - /**@brief Return the inverse of this transform times the other transform - * @param t The other transform - * return this.inverse() * the other */ - b3Transform inverseTimes(const b3Transform& t) const; - - /**@brief Return the product of this transform and the other */ - b3Transform operator*(const b3Transform& t) const; - - /**@brief Return an identity transform */ - static const b3Transform& getIdentity() - { - static const b3Transform identityTransform(b3Matrix3x3::getIdentity()); - return identityTransform; - } - - void serialize(struct b3TransformData& dataOut) const; - - void serializeFloat(struct b3TransformFloatData& dataOut) const; - - void deSerialize(const struct b3TransformData& dataIn); - - void deSerializeDouble(const struct b3TransformDoubleData& dataIn); - - void deSerializeFloat(const struct b3TransformFloatData& dataIn); - -}; - - -B3_FORCE_INLINE b3Vector3 -b3Transform::invXform(const b3Vector3& inVec) const -{ - b3Vector3 v = inVec - m_origin; - return (m_basis.transpose() * v); -} - -B3_FORCE_INLINE b3Transform -b3Transform::inverseTimes(const b3Transform& t) const -{ - b3Vector3 v = t.getOrigin() - m_origin; - return b3Transform(m_basis.transposeTimes(t.m_basis), - v * m_basis); -} - -B3_FORCE_INLINE b3Transform -b3Transform::operator*(const b3Transform& t) const -{ - return b3Transform(m_basis * t.m_basis, - (*this)(t.m_origin)); -} - -/**@brief Test if two transforms have all elements equal */ -B3_FORCE_INLINE bool operator==(const b3Transform& t1, const b3Transform& t2) -{ - return ( t1.getBasis() == t2.getBasis() && - t1.getOrigin() == t2.getOrigin() ); -} - - -///for serialization -struct b3TransformFloatData -{ - b3Matrix3x3FloatData m_basis; - b3Vector3FloatData m_origin; -}; - -struct b3TransformDoubleData -{ - b3Matrix3x3DoubleData m_basis; - b3Vector3DoubleData m_origin; -}; - - - -B3_FORCE_INLINE void b3Transform::serialize(b3TransformData& dataOut) const -{ - m_basis.serialize(dataOut.m_basis); - m_origin.serialize(dataOut.m_origin); -} - -B3_FORCE_INLINE void b3Transform::serializeFloat(b3TransformFloatData& dataOut) const -{ - m_basis.serializeFloat(dataOut.m_basis); - m_origin.serializeFloat(dataOut.m_origin); -} - - -B3_FORCE_INLINE void b3Transform::deSerialize(const b3TransformData& dataIn) -{ - m_basis.deSerialize(dataIn.m_basis); - m_origin.deSerialize(dataIn.m_origin); -} - -B3_FORCE_INLINE void b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn) -{ - m_basis.deSerializeFloat(dataIn.m_basis); - m_origin.deSerializeFloat(dataIn.m_origin); -} - -B3_FORCE_INLINE void b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn) -{ - m_basis.deSerializeDouble(dataIn.m_basis); - m_origin.deSerializeDouble(dataIn.m_origin); -} - - -#endif //B3_TRANSFORM_H - - - - - - |