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1 /*
2 Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
3 
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.
6 Permission is granted to anyone to use this software for any purpose,
7 including commercial applications, and to alter it and redistribute it freely,
8 subject to the following restrictions:
9 
10 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.
11 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
12 3. 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. */
ATTRIBUTE_ALIGNED16(class)34 ATTRIBUTE_ALIGNED16(class) btTransform {
35 
36   ///Storage for the rotation
37 	btMatrix3x3 m_basis;
38   ///Storage for the translation
39 	btVector3   m_origin;
40 
41 public:
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 x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
97 	}
98 
99   /**@brief Return the transform of the vector */
100 	SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
101 	{
102 		return (*this)(x);
103 	}
104 
105   /**@brief Return the transform of the btQuaternion */
106 	SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
107 	{
108 		return getRotation() * q;
109 	}
110 
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; }
115 
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; }
120 
121   /**@brief Return a quaternion representing the rotation */
122 	btQuaternion getRotation() const {
123 		btQuaternion q;
124 		m_basis.getRotation(q);
125 		return q;
126 	}
127 
128 
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)
132 	{
133 		m_basis.setFromOpenGLSubMatrix(m);
134 		m_origin.setValue(m[12],m[13],m[14]);
135 	}
136 
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
140 	{
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);
146 	}
147 
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)
151 	{
152 		m_origin = origin;
153 	}
154 
155 	SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
156 
157 
158   /**@brief Set the rotational element by btMatrix3x3 */
159 	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
160 	{
161 		m_basis = basis;
162 	}
163 
164   /**@brief Set the rotational element by btQuaternion */
165 	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
166 	{
167 		m_basis.setRotation(q);
168 	}
169 
170 
171   /**@brief Set this transformation to the identity */
172 	void setIdentity()
173 	{
174 		m_basis.setIdentity();
175 		m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
176 	}
177 
178   /**@brief Multiply this Transform by another(this = this * another)
179    * @param t The other transform */
180 	btTransform& operator*=(const btTransform& t)
181 	{
182 		m_origin += m_basis * t.m_origin;
183 		m_basis *= t.m_basis;
184 		return *this;
185 	}
186 
187   /**@brief Return the inverse of this transform */
188 	btTransform inverse() const
189 	{
190 		btMatrix3x3 inv = m_basis.transpose();
191 		return btTransform(inv, inv * -m_origin);
192 	}
193 
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;
198 
199   /**@brief Return the product of this transform and the other */
200 	btTransform operator*(const btTransform& t) const;
201 
202   /**@brief Return an identity transform */
203 	static const btTransform&	getIdentity()
204 	{
205 		static const btTransform identityTransform(btMatrix3x3::getIdentity());
206 		return identityTransform;
207 	}
208 
209 	void	serialize(struct	btTransformData& dataOut) const;
210 
211 	void	serializeFloat(struct	btTransformFloatData& dataOut) const;
212 
213 	void	deSerialize(const struct	btTransformData& dataIn);
214 
215 	void	deSerializeDouble(const struct	btTransformDoubleData& dataIn);
216 
217 	void	deSerializeFloat(const struct	btTransformFloatData& dataIn);
218 
219 };
220 
221 
222 SIMD_FORCE_INLINE btVector3
invXform(const btVector3 & inVec)223 btTransform::invXform(const btVector3& inVec) const
224 {
225 	btVector3 v = inVec - m_origin;
226 	return (m_basis.transpose() * v);
227 }
228 
229 SIMD_FORCE_INLINE btTransform
inverseTimes(const btTransform & t)230 btTransform::inverseTimes(const btTransform& t) const
231 {
232 	btVector3 v = t.getOrigin() - m_origin;
233 		return btTransform(m_basis.transposeTimes(t.m_basis),
234 			v * m_basis);
235 }
236 
237 SIMD_FORCE_INLINE btTransform
238 btTransform::operator*(const btTransform& t) const
239 {
240 	return btTransform(m_basis * t.m_basis,
241 		(*this)(t.m_origin));
242 }
243 
244 /**@brief Test if two transforms have all elements equal */
245 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
246 {
247    return ( t1.getBasis()  == t2.getBasis() &&
248             t1.getOrigin() == t2.getOrigin() );
249 }
250 
251 
252 ///for serialization
253 struct	btTransformFloatData
254 {
255 	btMatrix3x3FloatData	m_basis;
256 	btVector3FloatData	m_origin;
257 };
258 
259 struct	btTransformDoubleData
260 {
261 	btMatrix3x3DoubleData	m_basis;
262 	btVector3DoubleData	m_origin;
263 };
264 
265 
266 
serialize(btTransformData & dataOut)267 SIMD_FORCE_INLINE	void	btTransform::serialize(btTransformData& dataOut) const
268 {
269 	m_basis.serialize(dataOut.m_basis);
270 	m_origin.serialize(dataOut.m_origin);
271 }
272 
serializeFloat(btTransformFloatData & dataOut)273 SIMD_FORCE_INLINE	void	btTransform::serializeFloat(btTransformFloatData& dataOut) const
274 {
275 	m_basis.serializeFloat(dataOut.m_basis);
276 	m_origin.serializeFloat(dataOut.m_origin);
277 }
278 
279 
deSerialize(const btTransformData & dataIn)280 SIMD_FORCE_INLINE	void	btTransform::deSerialize(const btTransformData& dataIn)
281 {
282 	m_basis.deSerialize(dataIn.m_basis);
283 	m_origin.deSerialize(dataIn.m_origin);
284 }
285 
deSerializeFloat(const btTransformFloatData & dataIn)286 SIMD_FORCE_INLINE	void	btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
287 {
288 	m_basis.deSerializeFloat(dataIn.m_basis);
289 	m_origin.deSerializeFloat(dataIn.m_origin);
290 }
291 
deSerializeDouble(const btTransformDoubleData & dataIn)292 SIMD_FORCE_INLINE	void	btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
293 {
294 	m_basis.deSerializeDouble(dataIn.m_basis);
295 	m_origin.deSerializeDouble(dataIn.m_origin);
296 }
297 
298 
299 #endif //BT_TRANSFORM_H
300 
301 
302 
303 
304 
305 
306