btTransform.h

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/*
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.
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, 
including commercial applications, and to alter it and redistribute it freely, 
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.
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.
*/



#ifndef btTransform_H
#define btTransform_H


#include "btMatrix3x3.h"

#ifdef BT_USE_DOUBLE_PRECISION
#define btTransformData btTransformDoubleData
#else
#define btTransformData btTransformFloatData
#endif




class btTransform {
    
    btMatrix3x3 m_basis;
    btVector3   m_origin;

public:
    
    btTransform() {}
    explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
        const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) 
        : m_basis(q),
        m_origin(c)
    {}

    explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
        const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
        : m_basis(b),
        m_origin(c)
    {}
    SIMD_FORCE_INLINE btTransform (const btTransform& other)
        : m_basis(other.m_basis),
        m_origin(other.m_origin)
    {
    }
    SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
    {
        m_basis = other.m_basis;
        m_origin = other.m_origin;
        return *this;
    }


        SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
            m_basis = t1.m_basis * t2.m_basis;
            m_origin = t1(t2.m_origin);
        }

/*      void multInverseLeft(const btTransform& t1, const btTransform& t2) {
            btVector3 v = t2.m_origin - t1.m_origin;
            m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
            m_origin = v * t1.m_basis;
        }
        */

    SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
    {
        return btVector3(m_basis[0].dot(x) + m_origin.x(), 
            m_basis[1].dot(x) + m_origin.y(), 
            m_basis[2].dot(x) + m_origin.z());
    }

    SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
    {
        return (*this)(x);
    }

    SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
    {
        return getRotation() * q;
    }

    SIMD_FORCE_INLINE btMatrix3x3&       getBasis()          { return m_basis; }
    SIMD_FORCE_INLINE const btMatrix3x3& getBasis()    const { return m_basis; }

    SIMD_FORCE_INLINE btVector3&         getOrigin()         { return m_origin; }
    SIMD_FORCE_INLINE const btVector3&   getOrigin()   const { return m_origin; }

    btQuaternion getRotation() const { 
        btQuaternion q;
        m_basis.getRotation(q);
        return q;
    }
    
    
    void setFromOpenGLMatrix(const btScalar *m)
    {
        m_basis.setFromOpenGLSubMatrix(m);
        m_origin.setValue(m[12],m[13],m[14]);
    }

    void getOpenGLMatrix(btScalar *m) const 
    {
        m_basis.getOpenGLSubMatrix(m);
        m[12] = m_origin.x();
        m[13] = m_origin.y();
        m[14] = m_origin.z();
        m[15] = btScalar(1.0);
    }

    SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
    { 
        m_origin = origin;
    }

    SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;


    SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
    { 
        m_basis = basis;
    }

    SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
    {
        m_basis.setRotation(q);
    }


    void setIdentity()
    {
        m_basis.setIdentity();
        m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
    }

    btTransform& operator*=(const btTransform& t) 
    {
        m_origin += m_basis * t.m_origin;
        m_basis *= t.m_basis;
        return *this;
    }

    btTransform inverse() const
    { 
        btMatrix3x3 inv = m_basis.transpose();
        return btTransform(inv, inv * -m_origin);
    }

    btTransform inverseTimes(const btTransform& t) const;  

    btTransform operator*(const btTransform& t) const;

    static const btTransform&   getIdentity()
    {
        static const btTransform identityTransform(btMatrix3x3::getIdentity());
        return identityTransform;
    }

    void    serialize(struct    btTransformData& dataOut) const;

    void    serializeFloat(struct   btTransformFloatData& dataOut) const;

    void    deSerialize(const struct    btTransformData& dataIn);

    void    deSerializeDouble(const struct  btTransformDoubleData& dataIn);

    void    deSerializeFloat(const struct   btTransformFloatData& dataIn);

};


SIMD_FORCE_INLINE btVector3
btTransform::invXform(const btVector3& inVec) const
{
    btVector3 v = inVec - m_origin;
    return (m_basis.transpose() * v);
}

SIMD_FORCE_INLINE btTransform 
btTransform::inverseTimes(const btTransform& t) const  
{
    btVector3 v = t.getOrigin() - m_origin;
        return btTransform(m_basis.transposeTimes(t.m_basis),
            v * m_basis);
}

SIMD_FORCE_INLINE btTransform 
btTransform::operator*(const btTransform& t) const
{
    return btTransform(m_basis * t.m_basis, 
        (*this)(t.m_origin));
}

SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
{
   return ( t1.getBasis()  == t2.getBasis() &&
            t1.getOrigin() == t2.getOrigin() );
}


struct  btTransformFloatData
{
    btMatrix3x3FloatData    m_basis;
    btVector3FloatData  m_origin;
};

struct  btTransformDoubleData
{
    btMatrix3x3DoubleData   m_basis;
    btVector3DoubleData m_origin;
};



SIMD_FORCE_INLINE   void    btTransform::serialize(btTransformData& dataOut) const
{
    m_basis.serialize(dataOut.m_basis);
    m_origin.serialize(dataOut.m_origin);
}

SIMD_FORCE_INLINE   void    btTransform::serializeFloat(btTransformFloatData& dataOut) const
{
    m_basis.serializeFloat(dataOut.m_basis);
    m_origin.serializeFloat(dataOut.m_origin);
}


SIMD_FORCE_INLINE   void    btTransform::deSerialize(const btTransformData& dataIn)
{
    m_basis.deSerialize(dataIn.m_basis);
    m_origin.deSerialize(dataIn.m_origin);
}

SIMD_FORCE_INLINE   void    btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
{
    m_basis.deSerializeFloat(dataIn.m_basis);
    m_origin.deSerializeFloat(dataIn.m_origin);
}

SIMD_FORCE_INLINE   void    btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
{
    m_basis.deSerializeDouble(dataIn.m_basis);
    m_origin.deSerializeDouble(dataIn.m_origin);
}


#endif