torcs - 1.2.2

src/modules/simu/simuv2.sav/SOLID-2.0/src/Transform.h

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00001 /*
00002   SOLID - Software Library for Interference Detection
00003   Copyright (C) 1997-1998  Gino van den Bergen
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   Please send remarks, questions and bug reports to gino@win.tue.nl,
00020   or write to:
00021                   Gino van den Bergen
00022                   Department of Mathematics and Computing Science
00023                   Eindhoven University of Technology
00024                   P.O. Box 513, 5600 MB Eindhoven, The Netherlands
00025 */
00026 
00027 #ifndef _TRANSFORM_H_
00028 #define _TRANSFORM_H_
00029 
00030 #include <3D/Point.h>
00031 #include <3D/Matrix.h>
00032 
00033 class Transform {
00034 public:
00035   Transform() {}
00036   Transform(const float m[16]) { setValue(m); }
00037   Transform(const double m[16]) { setValue(m); }
00038  
00039   Point operator()(const Point& p) const {
00040     return Point(dot(basis[X], p) + origin[X], 
00041                  dot(basis[Y], p) + origin[Y], 
00042                  dot(basis[Z], p) + origin[Z]);
00043   }
00044   
00045   const Matrix& getBasis() const { return basis; }
00046   const Point& getOrigin() const { return origin; }
00047 
00048   void setValue(const float m[16]);
00049   void setValue(const double m[16]);
00050   
00051   void setIdentity();
00052 
00053   Transform& operator*=(const Transform& t);
00054 
00055   void translate(const Vector& v);
00056   void rotate(const Quaternion& q);
00057   void scale(Scalar x, Scalar y, Scalar z);
00058 
00059   void invert(const Transform& t);
00060   void mult(const Transform& t1, const Transform& t2);
00061   void multInverseLeft(const Transform& t1, const Transform& t2); 
00062 
00063 private:
00064   enum { 
00065     IDENTITY = 0x00, 
00066     TRANSLATION = 0x01,
00067     ROTATION = 0x02,
00068     SCALING = 0x04,
00069     LINEAR = ROTATION | SCALING,
00070     AFFINE = TRANSLATION | LINEAR
00071   };
00072 
00073   Matrix basis;
00074   Point origin;
00075   unsigned int type;
00076 };
00077 
00078 #endif

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