1 //****************************************************************************//
2 // coordsys.h                                                                    //
3 // Copyright (C) 2001, 2002 Bruno 'Beosil' Heidelberger                       //
4 //****************************************************************************//
5 // This library is free software; you can redistribute it and/or modify it    //
6 // under the terms of the GNU Lesser General Public License as published by   //
7 // the Free Software Foundation; either version 2.1 of the License, or (at    //
8 // your option) any later version.                                            //
9 //****************************************************************************//
10 
11 #ifndef CAL_TRANSFORM_H
12 #define CAL_TRANSFORM_H
13 
14 #include "cal3d/global.h"
15 #include "cal3d/vector.h"
16 #include "cal3d/quaternion.h"
17 
18 namespace cal3d
19 {
20   /**
21    * Contains a translation and rotation that describe a coordinate
22    * system or transform.
23    */
24   class CAL3D_API Transform
25   {
26   public:
Transform()27     Transform() { }
28 
Transform(const CalVector & translation,const CalQuaternion & rotation)29     Transform(const CalVector& translation, const CalQuaternion& rotation)
30     : m_translation(translation)
31     , m_rotation(rotation)
32     {
33     }
34 
~Transform()35     ~Transform() { }
36 
getTranslation()37     const CalVector& getTranslation() const
38     {
39       return m_translation;
40     }
41 
getTranslation()42     CalVector& getTranslation()
43     {
44       return m_translation;
45     }
46 
getRotation()47     const CalQuaternion& getRotation() const
48     {
49       return m_rotation;
50     }
51 
getRotation()52     CalQuaternion& getRotation()
53     {
54       return m_rotation;
55     }
56 
setTranslation(const CalVector & translation)57     void setTranslation(const CalVector& translation)
58     {
59       m_translation = translation;
60     }
61 
setRotation(const CalQuaternion & rotation)62     void setRotation(const CalQuaternion& rotation)
63     {
64       m_rotation = rotation;
65     }
66 
67     /// Sets this coordinate system to the identity rotation and translation.
setIdentity()68     void setIdentity()
69     {
70       m_translation.clear();
71       m_rotation.clear();
72     }
73 
blend(float t,const Transform & end)74     void blend(float t, const Transform& end)
75     {
76       m_translation.blend(t, end.getTranslation());
77       m_rotation.blend(t, end.getRotation());
78     }
79 
80     bool operator==(const Transform& rhs) const
81     {
82       return m_translation == rhs.m_translation &&
83              m_rotation == rhs.m_rotation;
84     }
85 
86     bool operator!=(const Transform& rhs) const
87     {
88       return !operator==(rhs);
89     }
90 
91   private:
92      CalVector m_translation;
93      CalQuaternion m_rotation;
94   };
95 }
96 
97 typedef cal3d::Transform CalTransform;
98 
99 #endif
100