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 16 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 16 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
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