csgeom/transfrm.h
Go to the documentation of this file.00001 /* 00002 Copyright (C) 1998-2001 by Jorrit Tyberghein 00003 Largely rewritten by Ivan Avramovic <ivan@avramovic.com> 00004 00005 This library is free software; you can redistribute it and/or 00006 modify it under the terms of the GNU Library General Public 00007 License as published by the Free Software Foundation; either 00008 version 2 of the License, or (at your option) any later version. 00009 00010 This library is distributed in the hope that it will be useful, 00011 but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00013 Library General Public License for more details. 00014 00015 You should have received a copy of the GNU Library General Public 00016 License along with this library; if not, write to the Free 00017 Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00018 */ 00019 00020 #ifndef __CS_TRANSFORM_H__ 00021 #define __CS_TRANSFORM_H__ 00022 00030 #include "csextern.h" 00031 00032 00033 #include "csgeom/matrix3.h" 00034 #include "csgeom/vector3.h" 00035 00036 class csPlane3; 00037 class csSphere; 00038 00039 class csReversibleTransform; 00040 00047 class CS_CRYSTALSPACE_EXPORT csTransform 00048 { 00049 protected: 00051 csMatrix3 m_o2t; 00053 csVector3 v_o2t; 00054 00055 public: 00056 // Needed for GCC4. Otherwise emits a flood of "virtual functions but 00057 // non-virtual destructor" warnings. 00058 virtual ~csTransform() {} 00062 csTransform () : m_o2t (), v_o2t (0, 0, 0) {} 00063 00071 csTransform (const csMatrix3& other2this, const csVector3& origin_pos) : 00072 m_o2t (other2this), v_o2t (origin_pos) {} 00073 00077 inline void Identity () 00078 { 00079 SetO2TTranslation (csVector3 (0)); 00080 SetO2T (csMatrix3 ()); 00081 } 00082 00087 inline bool IsIdentity () const 00088 { 00089 if (ABS (v_o2t.x) >= SMALL_EPSILON) return false; 00090 if (ABS (v_o2t.y) >= SMALL_EPSILON) return false; 00091 if (ABS (v_o2t.z) >= SMALL_EPSILON) return false; 00092 if (ABS (m_o2t.m11-1) >= SMALL_EPSILON) return false; 00093 if (ABS (m_o2t.m12) >= SMALL_EPSILON) return false; 00094 if (ABS (m_o2t.m13) >= SMALL_EPSILON) return false; 00095 if (ABS (m_o2t.m21) >= SMALL_EPSILON) return false; 00096 if (ABS (m_o2t.m22-1) >= SMALL_EPSILON) return false; 00097 if (ABS (m_o2t.m23) >= SMALL_EPSILON) return false; 00098 if (ABS (m_o2t.m31) >= SMALL_EPSILON) return false; 00099 if (ABS (m_o2t.m32) >= SMALL_EPSILON) return false; 00100 if (ABS (m_o2t.m33-1) >= SMALL_EPSILON) return false; 00101 return true; 00102 } 00103 00108 inline const csMatrix3& GetO2T () const { return m_o2t; } 00109 00115 inline const csVector3& GetO2TTranslation () const { return v_o2t; } 00116 00122 inline const csVector3& GetOrigin () const { return v_o2t; } 00123 00128 virtual void SetO2T (const csMatrix3& m) { m_o2t = m; } 00129 00135 virtual void SetO2TTranslation (const csVector3& v) { v_o2t = v; } 00136 00141 inline void SetOrigin (const csVector3& v) { SetO2TTranslation (v); } 00142 00148 inline void Translate (const csVector3& v) { SetO2TTranslation (v_o2t + v); } 00149 00155 inline csVector3 Other2This (const csVector3& v) const 00156 { 00157 return m_o2t * (v - v_o2t); 00158 } 00159 00165 inline csVector3 Other2ThisRelative (const csVector3& v) const 00166 { return m_o2t * v; } 00167 00173 csPlane3 Other2This (const csPlane3& p) const; 00174 00181 csPlane3 Other2ThisRelative (const csPlane3& p) const; 00182 00190 void Other2This (const csPlane3& p, const csVector3& point, 00191 csPlane3& result) const; 00192 00196 csSphere Other2This (const csSphere& s) const; 00197 00202 friend CS_CRYSTALSPACE_EXPORT csVector3 operator* (const csVector3& v, 00203 const csTransform& t); 00204 00209 friend CS_CRYSTALSPACE_EXPORT csVector3 operator* (const csTransform& t, 00210 const csVector3& v); 00211 00216 friend CS_CRYSTALSPACE_EXPORT csVector3& operator*= (csVector3& v, 00217 const csTransform& t); 00218 00223 friend CS_CRYSTALSPACE_EXPORT csPlane3 operator* (const csPlane3& p, 00224 const csTransform& t); 00225 00230 friend CS_CRYSTALSPACE_EXPORT csPlane3 operator* (const csTransform& t, 00231 const csPlane3& p); 00232 00237 friend CS_CRYSTALSPACE_EXPORT csPlane3& operator*= (csPlane3& p, 00238 const csTransform& t); 00239 00244 friend CS_CRYSTALSPACE_EXPORT csSphere operator* (const csSphere& p, 00245 const csTransform& t); 00246 00251 friend CS_CRYSTALSPACE_EXPORT csSphere operator* (const csTransform& t, 00252 const csSphere& p); 00253 00258 friend CS_CRYSTALSPACE_EXPORT csSphere& operator*= (csSphere& p, 00259 const csTransform& t); 00260 00265 friend CS_CRYSTALSPACE_EXPORT csMatrix3 operator* (const csMatrix3& m, 00266 const csTransform& t); 00267 00272 friend CS_CRYSTALSPACE_EXPORT csMatrix3 operator* (const csTransform& t, 00273 const csMatrix3& m); 00274 00279 friend CS_CRYSTALSPACE_EXPORT csMatrix3& operator*= (csMatrix3& m, 00280 const csTransform& t); 00281 00292 friend CS_CRYSTALSPACE_EXPORT csTransform operator* (const csTransform& t1, 00293 const csReversibleTransform& t2); 00294 00300 static csTransform GetReflect (const csPlane3& pl); 00301 00307 csVector3 GetFront () { return csVector3 (m_o2t.m31, m_o2t.m32, m_o2t.m33); } 00308 00314 csVector3 GetUp () { return csVector3 (m_o2t.m21, m_o2t.m22, m_o2t.m23); } 00315 00321 csVector3 GetRight () { return csVector3 (m_o2t.m11, m_o2t.m12, m_o2t.m13); } 00322 }; 00323 00335 class CS_CRYSTALSPACE_EXPORT csReversibleTransform : public csTransform 00336 { 00337 protected: 00339 csMatrix3 m_t2o; 00340 00344 csReversibleTransform (const csMatrix3& o2t, const csMatrix3& t2o, 00345 const csVector3& pos) : csTransform (o2t,pos), m_t2o (t2o) {} 00346 00347 public: 00351 csReversibleTransform () : csTransform (), m_t2o () {} 00352 00360 csReversibleTransform (const csMatrix3& o2t, const csVector3& pos) : 00361 csTransform (o2t,pos) { m_t2o = m_o2t.GetInverse (); } 00362 00366 csReversibleTransform (const csTransform& t) : 00367 csTransform (t) { m_t2o = m_o2t.GetInverse (); } 00368 00372 csReversibleTransform (const csReversibleTransform& t) : 00373 csTransform (t) { m_t2o = t.m_t2o; } 00374 00379 inline const csMatrix3& GetT2O () const { return m_t2o; } 00380 00385 inline csVector3 GetT2OTranslation () const { return -m_o2t*v_o2t; } 00386 00390 csReversibleTransform GetInverse () const 00391 { return csReversibleTransform (m_t2o, m_o2t, -m_o2t*v_o2t); } 00392 00397 virtual void SetO2T (const csMatrix3& m) 00398 { m_o2t = m; m_t2o = m_o2t.GetInverse (); } 00399 00405 virtual void SetT2O (const csMatrix3& m) 00406 { m_t2o = m; m_o2t = m_t2o.GetInverse (); } 00407 00413 inline csVector3 This2Other (const csVector3& v) const 00414 { return v_o2t + m_t2o * v; } 00415 00421 inline csVector3 This2OtherRelative (const csVector3& v) const 00422 { return m_t2o * v; } 00423 00430 csPlane3 This2Other (const csPlane3& p) const; 00431 00438 csPlane3 This2OtherRelative (const csPlane3& p) const; 00439 00448 void This2Other (const csPlane3& p, const csVector3& point, 00449 csPlane3& result) const; 00450 00454 csSphere This2Other (const csSphere& s) const; 00455 00461 void RotateOther (const csVector3& v, float angle); 00462 00468 void RotateThis (const csVector3& v, float angle); 00469 00477 void RotateOther (const csMatrix3& m) { SetT2O (m * m_t2o); } 00478 00486 void RotateThis (const csMatrix3& m) { SetT2O (m_t2o * m); } 00487 00496 void LookAt (const csVector3& v, const csVector3& up); 00497 00502 friend CS_CRYSTALSPACE_EXPORT csVector3 operator/ (const csVector3& v, 00503 const csReversibleTransform& t); 00504 00509 friend CS_CRYSTALSPACE_EXPORT csVector3& operator/= (csVector3& v, 00510 const csReversibleTransform& t); 00511 00516 friend CS_CRYSTALSPACE_EXPORT csPlane3 operator/ (const csPlane3& p, 00517 const csReversibleTransform& t); 00518 00523 friend CS_CRYSTALSPACE_EXPORT csPlane3& operator/= (csPlane3& p, 00524 const csReversibleTransform& t); 00525 00530 friend CS_CRYSTALSPACE_EXPORT csSphere operator/ (const csSphere& p, 00531 const csReversibleTransform& t); 00532 00544 friend csReversibleTransform& operator*= (csReversibleTransform& t1, 00545 const csReversibleTransform& t2) 00546 { 00547 t1.v_o2t = t2.m_t2o*t1.v_o2t; 00548 t1.v_o2t += t2.v_o2t; 00549 t1.m_o2t *= t2.m_o2t; 00550 t1.m_t2o *= t1.m_t2o; 00551 return t1; 00552 } 00553 00565 friend csReversibleTransform operator* (const csReversibleTransform& t1, 00566 const csReversibleTransform& t2) 00567 { 00568 return csReversibleTransform (t1.m_o2t*t2.m_o2t, t2.m_t2o*t1.m_t2o, 00569 t2.v_o2t + t2.m_t2o*t1.v_o2t); 00570 } 00571 00572 #if !defined(SWIG) /* Otherwise Swig 1.3.22 thinks this is multiply declared */ 00573 00584 friend CS_CRYSTALSPACE_EXPORT csTransform operator* (const csTransform& t1, 00585 const csReversibleTransform& t2); 00586 #endif 00587 00599 friend CS_CRYSTALSPACE_EXPORT csReversibleTransform& operator/= ( 00600 csReversibleTransform& t1, const csReversibleTransform& t2); 00601 00613 friend CS_CRYSTALSPACE_EXPORT csReversibleTransform operator/ ( 00614 const csReversibleTransform& t1, const csReversibleTransform& t2); 00615 }; 00616 00623 class csOrthoTransform : public csReversibleTransform 00624 { 00625 public: 00629 csOrthoTransform () : csReversibleTransform () {} 00630 00634 csOrthoTransform (const csMatrix3& o2t, const csVector3& pos) : 00635 csReversibleTransform (o2t, o2t.GetTranspose (), pos) { } 00636 00640 csOrthoTransform (const csTransform& t) : 00641 csReversibleTransform (t.GetO2T (), t.GetO2T ().GetTranspose (), 00642 t.GetO2TTranslation ()) 00643 { } 00644 00649 virtual void SetO2T (const csMatrix3& m) 00650 { m_o2t = m; m_t2o = m_o2t.GetTranspose (); } 00651 00657 virtual void SetT2O (const csMatrix3& m) 00658 { m_t2o = m; m_o2t = m_t2o.GetTranspose (); } 00659 }; 00660 00663 #endif // __CS_TRANSFORM_H__ 00664
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