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kaplademo/source/kaplaDemo/Vec/Transform.h

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+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
+
+#ifndef TRANSFORM_H
+#define TRANSFORM_H
+
+#include "Vec3.h"
+#include "Quat.h"
+#include "Plane.h"
+
+//	Singe / VecVecReal Precision Vec 3
+//  Matthias Mueller
+//  derived from NxVec3.h
+
+namespace M
+{
+
+class Transform
+{
+public:
+	Quat q;
+	Vec3 p;
+
+	Transform() {};
+	Transform(const Vec3& position): q(0, 0, 0, 1), p(position) {}
+	Transform(const Quat& orientation): q(orientation), p(0, 0, 0) {}
+	Transform(const Vec3& p0, const Quat& q0): q(q0), p(p0) {}
+
+	Transform operator*(const Transform& x) const
+	{
+		return transform(x);
+	}
+
+	Transform getInverse() const
+	{
+		return Transform(q.rotateInv(-p),q.getConjugate());
+	}
+
+
+	Vec3 transform(const Vec3& input) const
+	{
+		return q.rotate(input) + p;
+	}
+
+	Vec3 transformInv(const Vec3& input) const
+	{
+		return q.rotateInv(input-p);
+	}
+
+	Vec3 rotate(const Vec3& input) const
+	{
+		return q.rotate(input);
+	}
+
+	Vec3 rotateInv(const Vec3& input) const
+	{
+		return q.rotateInv(input);
+	}
+
+	Transform transform(const Transform& src) const
+	{
+		return Transform(q.rotate(src.p) + p, q*src.q);
+	}
+
+	Transform transformInv(const Transform& src) const
+	{
+		Quat qinv = q.getConjugate();
+		return Transform(qinv.rotate(src.p - p), qinv*src.q);
+	}
+
+	static  Transform createIdentity() 
+	{ 
+		return Transform(Vec3(0)); 
+	}
+
+	Plane transform(const Plane& plane) const
+	{
+		Vec3 transformedNormal = rotate(plane.n);
+		return Plane(transformedNormal, plane.d - p.dot(transformedNormal));
+	}
+
+	Plane inverseTransform(const Plane& plane) const
+	{
+		Vec3 transformedNormal = rotateInv(plane.n);
+		return Plane(transformedNormal, plane.d + p.dot(plane.n));
+	}
+
+	Transform getNormalized() const
+	{
+		return Transform(p, q.getNormalized());
+	}
+
+};
+
+}
+
+#endif