Bullet Collision Detection & Physics Library
btTransform.h
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1 /*
2 Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
3 
4 This software is provided 'as-is', without any express or implied warranty.
5 In no event will the authors be held liable for any damages arising from the use of this software.
6 Permission is granted to anyone to use this software for any purpose,
7 including commercial applications, and to alter it and redistribute it freely,
8 subject to the following restrictions:
9 
10 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.
11 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
12 3. This notice may not be removed or altered from any source distribution.
13 */
14 
15 
16 
17 #ifndef BT_TRANSFORM_H
18 #define BT_TRANSFORM_H
19 
20 
21 #include "btMatrix3x3.h"
22 
23 #ifdef BT_USE_DOUBLE_PRECISION
24 #define btTransformData btTransformDoubleData
25 #else
26 #define btTransformData btTransformFloatData
27 #endif
28 
29 
30 
31 
35 
40 
41 public:
42 
49  const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
50  : m_basis(q),
51  m_origin(c)
52  {}
53 
58  const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
59  : m_basis(b),
60  m_origin(c)
61  {}
64  : m_basis(other.m_basis),
65  m_origin(other.m_origin)
66  {
67  }
70  {
71  m_basis = other.m_basis;
72  m_origin = other.m_origin;
73  return *this;
74  }
75 
76 
81  SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
82  m_basis = t1.m_basis * t2.m_basis;
83  m_origin = t1(t2.m_origin);
84  }
85 
86 /* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
87  btVector3 v = t2.m_origin - t1.m_origin;
88  m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
89  m_origin = v * t1.m_basis;
90  }
91  */
92 
95  {
96  return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
97  }
98 
101  {
102  return (*this)(x);
103  }
104 
107  {
108  return getRotation() * q;
109  }
110 
112  SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
114  SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
115 
117  SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
119  SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
120 
123  btQuaternion q;
124  m_basis.getRotation(q);
125  return q;
126  }
127 
128 
132  {
133  m_basis.setFromOpenGLSubMatrix(m);
134  m_origin.setValue(m[12],m[13],m[14]);
135  }
136 
139  void getOpenGLMatrix(btScalar *m) const
140  {
141  m_basis.getOpenGLSubMatrix(m);
142  m[12] = m_origin.x();
143  m[13] = m_origin.y();
144  m[14] = m_origin.z();
145  m[15] = btScalar(1.0);
146  }
147 
150  SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
151  {
152  m_origin = origin;
153  }
154 
155  SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
156 
157 
160  {
161  m_basis = basis;
162  }
163 
166  {
167  m_basis.setRotation(q);
168  }
169 
170 
172  void setIdentity()
173  {
174  m_basis.setIdentity();
175  m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
176  }
177 
181  {
182  m_origin += m_basis * t.m_origin;
183  m_basis *= t.m_basis;
184  return *this;
185  }
186 
189  {
190  btMatrix3x3 inv = m_basis.transpose();
191  return btTransform(inv, inv * -m_origin);
192  }
193 
197  btTransform inverseTimes(const btTransform& t) const;
198 
200  btTransform operator*(const btTransform& t) const;
201 
203  static const btTransform& getIdentity()
204  {
205  static const btTransform identityTransform(btMatrix3x3::getIdentity());
206  return identityTransform;
207  }
208 
209  void serialize(struct btTransformData& dataOut) const;
210 
211  void serializeFloat(struct btTransformFloatData& dataOut) const;
212 
213  void deSerialize(const struct btTransformData& dataIn);
214 
215  void deSerializeDouble(const struct btTransformDoubleData& dataIn);
216 
217  void deSerializeFloat(const struct btTransformFloatData& dataIn);
218 
219 };
220 
221 
223 btTransform::invXform(const btVector3& inVec) const
224 {
225  btVector3 v = inVec - m_origin;
226  return (m_basis.transpose() * v);
227 }
228 
231 {
232  btVector3 v = t.getOrigin() - m_origin;
233  return btTransform(m_basis.transposeTimes(t.m_basis),
234  v * m_basis);
235 }
236 
239 {
240  return btTransform(m_basis * t.m_basis,
241  (*this)(t.m_origin));
242 }
243 
246 {
247  return ( t1.getBasis() == t2.getBasis() &&
248  t1.getOrigin() == t2.getOrigin() );
249 }
250 
251 
254 {
257 };
258 
260 {
263 };
264 
265 
266 
268 {
269  m_basis.serialize(dataOut.m_basis);
270  m_origin.serialize(dataOut.m_origin);
271 }
272 
274 {
275  m_basis.serializeFloat(dataOut.m_basis);
276  m_origin.serializeFloat(dataOut.m_origin);
277 }
278 
279 
281 {
282  m_basis.deSerialize(dataIn.m_basis);
283  m_origin.deSerialize(dataIn.m_origin);
284 }
285 
287 {
288  m_basis.deSerializeFloat(dataIn.m_basis);
289  m_origin.deSerializeFloat(dataIn.m_origin);
290 }
291 
293 {
294  m_basis.deSerializeDouble(dataIn.m_basis);
295  m_origin.deSerializeDouble(dataIn.m_origin);
296 }
297 
298 
299 #endif //BT_TRANSFORM_H
300 
301 
302 
303 
304 
305 
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:150
btMatrix3x3DoubleData m_basis
Definition: btTransform.h:261
float4 operator*(const float4 &a, float fact)
Definition: btGpuDefines.h:120
void deSerializeFloat(const struct btMatrix3x3FloatData &dataIn)
Definition: btMatrix3x3.h:1354
for serialization
Definition: btMatrix3x3.h:1321
void deSerializeFloat(const struct btTransformFloatData &dataIn)
Definition: btTransform.h:286
void serialize(struct btMatrix3x3Data &dataOut) const
Definition: btMatrix3x3.h:1335
btVector3 m_origin
Storage for the translation.
Definition: btTransform.h:39
void deSerializeDouble(const struct btVector3DoubleData &dataIn)
Definition: btVector3.h:1332
btQuaternion getRotation() const
Return a quaternion representing the rotation.
Definition: btTransform.h:122
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btMatrix3x3 m_basis
Storage for the rotation.
Definition: btTransform.h:37
void setRotation(const btQuaternion &q)
Set the matrix from a quaternion.
Definition: btMatrix3x3.h:209
void getOpenGLMatrix(btScalar *m) const
Fill an array representation.
Definition: btTransform.h:139
void setBasis(const btMatrix3x3 &basis)
Set the rotational element by btMatrix3x3.
Definition: btTransform.h:159
void deSerialize(const struct btVector3Data &dataIn)
Definition: btVector3.h:1346
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btQuaternion operator*(const btQuaternion &q) const
Return the transform of the btQuaternion.
Definition: btTransform.h:106
#define SIMD_FORCE_INLINE
Definition: btScalar.h:58
btMatrix3x3 transposeTimes(const btMatrix3x3 &m) const
Definition: btMatrix3x3.h:1037
btTransform()
No initialization constructor.
Definition: btTransform.h:44
btTransform(const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btMatrix3x3 (optional btVector3)
Definition: btTransform.h:57
btTransform inverseTimes(const btTransform &t) const
Return the inverse of this transform times the other transform.
Definition: btTransform.h:230
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
void deSerialize(const struct btMatrix3x3Data &dataIn)
Definition: btMatrix3x3.h:1348
void getRotation(btQuaternion &q) const
Get the matrix represented as a quaternion.
Definition: btMatrix3x3.h:400
void deSerialize(const struct btTransformData &dataIn)
Definition: btTransform.h:280
const btVector3 & getOrigin() const
Return the origin vector translation.
Definition: btTransform.h:119
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btVector3FloatData m_origin
Definition: btTransform.h:256
void deSerializeDouble(const struct btMatrix3x3DoubleData &dataIn)
Definition: btMatrix3x3.h:1360
void setFromOpenGLMatrix(const btScalar *m)
Set from an array.
Definition: btTransform.h:131
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1339
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
Definition: btTransform.h:165
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btTransform(const btTransform &other)
Copy constructor.
Definition: btTransform.h:63
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:188
bool operator==(const btTransform &t1, const btTransform &t2)
Test if two transforms have all elements equal.
Definition: btTransform.h:245
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1311
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
void getOpenGLSubMatrix(btScalar *m) const
Fill the rotational part of an OpenGL matrix and clear the shear/perspective.
Definition: btMatrix3x3.h:347
btVector3 invXform(const btVector3 &inVec) const
Definition: btTransform.h:223
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:59
void serializeFloat(struct btMatrix3x3FloatData &dataOut) const
Definition: btMatrix3x3.h:1341
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
const btMatrix3x3 & getBasis() const
Return the basis matrix for the rotation.
Definition: btTransform.h:114
static const btTransform & getIdentity()
Return an identity transform.
Definition: btTransform.h:203
for serialization
Definition: btTransform.h:253
void mult(const btTransform &t1, const btTransform &t2)
Set the current transform as the value of the product of two transforms.
Definition: btTransform.h:81
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:980
btTransform & operator*=(const btTransform &t)
Multiply this Transform by another(this = this * another)
Definition: btTransform.h:180
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:718
btVector3 operator()(const btVector3 &x) const
Return the transform of the vector.
Definition: btTransform.h:94
btTransform(const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btQuaternion (optional btVector3 )
Definition: btTransform.h:48
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
for serialization
Definition: btMatrix3x3.h:1327
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:48
void setFromOpenGLSubMatrix(const btScalar *m)
Set from the rotational part of a 4x4 OpenGL matrix.
Definition: btMatrix3x3.h:181
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:267
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1318
void deSerializeDouble(const struct btTransformDoubleData &dataIn)
Definition: btTransform.h:292
btVector3 operator*(const btVector3 &x) const
Return the transform of the vector.
Definition: btTransform.h:100
void serializeFloat(struct btTransformFloatData &dataOut) const
Definition: btTransform.h:273
#define btTransformData
Definition: btTransform.h:26
btVector3DoubleData m_origin
Definition: btTransform.h:262
btMatrix3x3FloatData m_basis
Definition: btTransform.h:255
void setIdentity()
Set the matrix to the identity.
Definition: btMatrix3x3.h:317
static const btMatrix3x3 & getIdentity()
Definition: btMatrix3x3.h:330
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266
btTransform & operator=(const btTransform &other)
Assignment Operator.
Definition: btTransform.h:69
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579