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