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extern/bullet2/src/LinearMath/btTransform.h

/* /*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty. 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. 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, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: 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. 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. 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. 3. This notice may not be removed or altered from any source distribution.
*/ */
#ifndef BT_TRANSFORM_H #ifndef BT_TRANSFORM_H
#define BT_TRANSFORM_H #define BT_TRANSFORM_H
#include "btMatrix3x3.h" #include "btMatrix3x3.h"
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
#define btTransformData btTransformDoubleData #define btTransformData btTransformDoubleData
#else #else
#define btTransformData btTransformFloatData #define btTransformData btTransformFloatData
#endif #endif
/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
*It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */ *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
ATTRIBUTE_ALIGNED16(class) btTransform { ATTRIBUTE_ALIGNED16(class)
btTransform
{
///Storage for the rotation ///Storage for the rotation
btMatrix3x3 m_basis; btMatrix3x3 m_basis;
///Storage for the translation ///Storage for the translation
btVector3 m_origin; btVector3 m_origin;
public: public:
/**@brief No initialization constructor */ /**@brief No initialization constructor */
btTransform() {} btTransform() {}
/**@brief Constructor from btQuaternion (optional btVector3 ) /**@brief Constructor from btQuaternion (optional btVector3 )
* @param q Rotation from quaternion * @param q Rotation from quaternion
* @param c Translation from Vector (default 0,0,0) */ * @param c Translation from Vector (default 0,0,0) */
explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
: m_basis(q), : m_basis(q),
m_origin(c) m_origin(c)
{} {
}
/**@brief Constructor from btMatrix3x3 (optional btVector3) /**@brief Constructor from btMatrix3x3 (optional btVector3)
* @param b Rotation from Matrix * @param b Rotation from Matrix
* @param c Translation from Vector default (0,0,0)*/ * @param c Translation from Vector default (0,0,0)*/
explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
: m_basis(b), : m_basis(b),
m_origin(c) m_origin(c)
{} {
}
/**@brief Copy constructor */ /**@brief Copy constructor */
SIMD_FORCE_INLINE btTransform (const btTransform& other) SIMD_FORCE_INLINE btTransform(const btTransform& other)
: m_basis(other.m_basis), : m_basis(other.m_basis),
m_origin(other.m_origin) m_origin(other.m_origin)
{ {
} }
/**@brief Assignment Operator */ /**@brief Assignment Operator */
SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other) SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
{ {
m_basis = other.m_basis; m_basis = other.m_basis;
m_origin = other.m_origin; m_origin = other.m_origin;
return *this; return *this;
} }
/**@brief Set the current transform as the value of the product of two transforms /**@brief Set the current transform as the value of the product of two transforms
* @param t1 Transform 1 * @param t1 Transform 1
* @param t2 Transform 2 * @param t2 Transform 2
* This = Transform1 * Transform2 */ * This = Transform1 * Transform2 */
SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) { SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2)
{
m_basis = t1.m_basis * t2.m_basis; m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin); m_origin = t1(t2.m_origin);
} }
/* void multInverseLeft(const btTransform& t1, const btTransform& t2) { /* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
btVector3 v = t2.m_origin - t1.m_origin; btVector3 v = t2.m_origin - t1.m_origin;
m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis); m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis; m_origin = v * t1.m_basis;
} }
*/ */
/**@brief Return the transform of the vector */ /**@brief Return the transform of the vector */
SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
{ {
return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin; return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
} }
/**@brief Return the transform of the vector */ /**@brief Return the transform of the vector */
SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
{ {
return (*this)(x); return (*this)(x);
} }
/**@brief Return the transform of the btQuaternion */ /**@brief Return the transform of the btQuaternion */
SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
{ {
return getRotation() * q; return getRotation() * q;
} }
/**@brief Return the basis matrix for the rotation */ /**@brief Return the basis matrix for the rotation */
SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; } SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
/**@brief Return the basis matrix for the rotation */ /**@brief Return the basis matrix for the rotation */
SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; } SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
/**@brief Return the origin vector translation */ /**@brief Return the origin vector translation */
SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; } SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
/**@brief Return the origin vector translation */ /**@brief Return the origin vector translation */
SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; } SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
/**@brief Return a quaternion representing the rotation */ /**@brief Return a quaternion representing the rotation */
btQuaternion getRotation() const { btQuaternion getRotation() const
{
btQuaternion q; btQuaternion q;
m_basis.getRotation(q); m_basis.getRotation(q);
return q; return q;
} }
/**@brief Set from an array /**@brief Set from an array
* @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */ * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
void setFromOpenGLMatrix(const btScalar *m) void setFromOpenGLMatrix(const btScalar* m)
{ {
m_basis.setFromOpenGLSubMatrix(m); m_basis.setFromOpenGLSubMatrix(m);
m_origin.setValue(m[12],m[13],m[14]); m_origin.setValue(m[12], m[13], m[14]);
} }
/**@brief Fill an array representation /**@brief Fill an array representation
* @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */ * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */
void getOpenGLMatrix(btScalar *m) const void getOpenGLMatrix(btScalar * m) const
{ {
m_basis.getOpenGLSubMatrix(m); m_basis.getOpenGLSubMatrix(m);
m[12] = m_origin.x(); m[12] = m_origin.x();
m[13] = m_origin.y(); m[13] = m_origin.y();
m[14] = m_origin.z(); m[14] = m_origin.z();
m[15] = btScalar(1.0); m[15] = btScalar(1.0);
} }
/**@brief Set the translational element /**@brief Set the translational element
* @param origin The vector to set the translation to */ * @param origin The vector to set the translation to */
SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
{ {
m_origin = origin; m_origin = origin;
} }
SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const; SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
/**@brief Set the rotational element by btMatrix3x3 */ /**@brief Set the rotational element by btMatrix3x3 */
SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis) SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
{ {
m_basis = basis; m_basis = basis;
} }
/**@brief Set the rotational element by btQuaternion */ /**@brief Set the rotational element by btQuaternion */
SIMD_FORCE_INLINE void setRotation(const btQuaternion& q) SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
{ {
m_basis.setRotation(q); m_basis.setRotation(q);
} }
/**@brief Set this transformation to the identity */ /**@brief Set this transformation to the identity */
void setIdentity() void setIdentity()
{ {
m_basis.setIdentity(); m_basis.setIdentity();
m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
} }
/**@brief Multiply this Transform by another(this = this * another) /**@brief Multiply this Transform by another(this = this * another)
* @param t The other transform */ * @param t The other transform */
btTransform& operator*=(const btTransform& t) btTransform& operator*=(const btTransform& t)
{ {
m_origin += m_basis * t.m_origin; m_origin += m_basis * t.m_origin;
m_basis *= t.m_basis; m_basis *= t.m_basis;
return *this; return *this;
} }
/**@brief Return the inverse of this transform */ /**@brief Return the inverse of this transform */
btTransform inverse() const btTransform inverse() const
{ {
btMatrix3x3 inv = m_basis.transpose(); btMatrix3x3 inv = m_basis.transpose();
return btTransform(inv, inv * -m_origin); return btTransform(inv, inv * -m_origin);
} }
/**@brief Return the inverse of this transform times the other transform /**@brief Return the inverse of this transform times the other transform
* @param t The other transform * @param t The other transform
* return this.inverse() * the other */ * return this.inverse() * the other */
btTransform inverseTimes(const btTransform& t) const; btTransform inverseTimes(const btTransform& t) const;
/**@brief Return the product of this transform and the other */ /**@brief Return the product of this transform and the other */
btTransform operator*(const btTransform& t) const; btTransform operator*(const btTransform& t) const;
/**@brief Return an identity transform */ /**@brief Return an identity transform */
static const btTransform& getIdentity() static const btTransform& getIdentity()
{ {
static const btTransform identityTransform(btMatrix3x3::getIdentity()); static const btTransform identityTransform(btMatrix3x3::getIdentity());
return identityTransform; return identityTransform;
} }
void serialize(struct btTransformData& dataOut) const; void serialize(struct btTransformData & dataOut) const;
void serializeFloat(struct btTransformFloatData& dataOut) const; void serializeFloat(struct btTransformFloatData & dataOut) const;
void deSerialize(const struct btTransformData& dataIn); void deSerialize(const struct btTransformData& dataIn);
void deSerializeDouble(const struct btTransformDoubleData& dataIn); void deSerializeDouble(const struct btTransformDoubleData& dataIn);
void deSerializeFloat(const struct btTransformFloatData& dataIn); void deSerializeFloat(const struct btTransformFloatData& dataIn);
}; };
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
btTransform::invXform(const btVector3& inVec) const btTransform::invXform(const btVector3& inVec) const
{ {
btVector3 v = inVec - m_origin; btVector3 v = inVec - m_origin;
return (m_basis.transpose() * v); return (m_basis.transpose() * v);
} }
SIMD_FORCE_INLINE btTransform SIMD_FORCE_INLINE btTransform
btTransform::inverseTimes(const btTransform& t) const btTransform::inverseTimes(const btTransform& t) const
{ {
btVector3 v = t.getOrigin() - m_origin; btVector3 v = t.getOrigin() - m_origin;
return btTransform(m_basis.transposeTimes(t.m_basis), return btTransform(m_basis.transposeTimes(t.m_basis),
v * m_basis); v * m_basis);
} }
SIMD_FORCE_INLINE btTransform SIMD_FORCE_INLINE btTransform
btTransform::operator*(const btTransform& t) const btTransform::operator*(const btTransform& t) const
{ {
return btTransform(m_basis * t.m_basis, return btTransform(m_basis * t.m_basis,
(*this)(t.m_origin)); (*this)(t.m_origin));
} }
/**@brief Test if two transforms have all elements equal */ /**@brief Test if two transforms have all elements equal */
SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2) SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
{ {
return ( t1.getBasis() == t2.getBasis() && return (t1.getBasis() == t2.getBasis() &&
t1.getOrigin() == t2.getOrigin() ); t1.getOrigin() == t2.getOrigin());
} }
///for serialization ///for serialization
struct btTransformFloatData struct btTransformFloatData
{ {
btMatrix3x3FloatData m_basis; btMatrix3x3FloatData m_basis;
btVector3FloatData m_origin; btVector3FloatData m_origin;
}; };
struct btTransformDoubleData struct btTransformDoubleData
{ {
btMatrix3x3DoubleData m_basis; btMatrix3x3DoubleData m_basis;
btVector3DoubleData m_origin; btVector3DoubleData m_origin;
}; };
SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
{ {
m_basis.serialize(dataOut.m_basis); m_basis.serialize(dataOut.m_basis);
m_origin.serialize(dataOut.m_origin); m_origin.serialize(dataOut.m_origin);
} }
SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
{ {
m_basis.serializeFloat(dataOut.m_basis); m_basis.serializeFloat(dataOut.m_basis);
m_origin.serializeFloat(dataOut.m_origin); m_origin.serializeFloat(dataOut.m_origin);
} }
SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn) SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
{ {
m_basis.deSerialize(dataIn.m_basis); m_basis.deSerialize(dataIn.m_basis);
m_origin.deSerialize(dataIn.m_origin); m_origin.deSerialize(dataIn.m_origin);
} }
SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn) SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
{ {
m_basis.deSerializeFloat(dataIn.m_basis); m_basis.deSerializeFloat(dataIn.m_basis);
m_origin.deSerializeFloat(dataIn.m_origin); m_origin.deSerializeFloat(dataIn.m_origin);
} }
SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn) SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
{ {
m_basis.deSerializeDouble(dataIn.m_basis); m_basis.deSerializeDouble(dataIn.m_basis);
m_origin.deSerializeDouble(dataIn.m_origin); m_origin.deSerializeDouble(dataIn.m_origin);
} }
#endif //BT_TRANSFORM_H #endif //BT_TRANSFORM_H