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 #ifndef BT_TRANSFORM_H
16 #define BT_TRANSFORM_H
17 
18 #include "btMatrix3x3.h"
19 
20 #ifdef BT_USE_DOUBLE_PRECISION
21 #define btTransformData btTransformDoubleData
22 #else
23 #define btTransformData btTransformFloatData
24 #endif
25 
30 {
35 
36 public:
43  const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
44  : m_basis(q),
45  m_origin(c)
46  {
47  }
48 
53  const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
54  : m_basis(b),
55  m_origin(c)
56  {
57  }
60  : m_basis(other.m_basis),
61  m_origin(other.m_origin)
62  {
63  }
66  {
67  m_basis = other.m_basis;
68  m_origin = other.m_origin;
69  return *this;
70  }
71 
76  SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2)
77  {
78  m_basis = t1.m_basis * t2.m_basis;
79  m_origin = t1(t2.m_origin);
80  }
81 
82  /* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
83  btVector3 v = t2.m_origin - t1.m_origin;
84  m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
85  m_origin = v * t1.m_basis;
86  }
87  */
88 
91  {
92  return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
93  }
94 
97  {
98  return (*this)(x);
99  }
100 
103  {
104  return getRotation() * q;
105  }
106 
108  SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
110  SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
111 
113  SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
115  SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
116 
119  {
120  btQuaternion q;
121  m_basis.getRotation(q);
122  return q;
123  }
124 
128  {
129  m_basis.setFromOpenGLSubMatrix(m);
130  m_origin.setValue(m[12], m[13], m[14]);
131  }
132 
135  void getOpenGLMatrix(btScalar * m) const
136  {
137  m_basis.getOpenGLSubMatrix(m);
138  m[12] = m_origin.x();
139  m[13] = m_origin.y();
140  m[14] = m_origin.z();
141  m[15] = btScalar(1.0);
142  }
143 
147  {
148  m_origin = origin;
149  }
150 
151  SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
152 
155  {
156  m_basis = basis;
157  }
158 
161  {
162  m_basis.setRotation(q);
163  }
164 
166  void setIdentity()
167  {
168  m_basis.setIdentity();
169  m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
170  }
171 
175  {
176  m_origin += m_basis * t.m_origin;
177  m_basis *= t.m_basis;
178  return *this;
179  }
180 
183  {
184  btMatrix3x3 inv = m_basis.transpose();
185  return btTransform(inv, inv * -m_origin);
186  }
187 
191  btTransform inverseTimes(const btTransform& t) const;
192 
194  btTransform operator*(const btTransform& t) const;
195 
197  static const btTransform& getIdentity()
198  {
199  static const btTransform identityTransform(btMatrix3x3::getIdentity());
200  return identityTransform;
201  }
202 
203  void serialize(struct btTransformData & dataOut) const;
204 
205  void serializeFloat(struct btTransformFloatData & dataOut) const;
206 
207  void deSerialize(const struct btTransformData& dataIn);
208 
209  void deSerializeDouble(const struct btTransformDoubleData& dataIn);
210 
211  void deSerializeFloat(const struct btTransformFloatData& dataIn);
212 };
213 
215 btTransform::invXform(const btVector3& inVec) const
216 {
217  btVector3 v = inVec - m_origin;
218  return (m_basis.transpose() * v);
219 }
220 
223 {
224  btVector3 v = t.getOrigin() - m_origin;
226  v * m_basis);
227 }
228 
231 {
232  return btTransform(m_basis * t.m_basis,
233  (*this)(t.m_origin));
234 }
235 
238 {
239  return (t1.getBasis() == t2.getBasis() &&
240  t1.getOrigin() == t2.getOrigin());
241 }
242 
245 {
248 };
249 
251 {
254 };
255 
257 {
258  m_basis.serialize(dataOut.m_basis);
259  m_origin.serialize(dataOut.m_origin);
260 }
261 
263 {
264  m_basis.serializeFloat(dataOut.m_basis);
266 }
267 
269 {
270  m_basis.deSerialize(dataIn.m_basis);
271  m_origin.deSerialize(dataIn.m_origin);
272 }
273 
275 {
278 }
279 
281 {
284 }
285 
286 #endif //BT_TRANSFORM_H
btMatrix3x3 operator*(const btMatrix3x3 &m, const btScalar &k)
Definition: btMatrix3x3.h:930
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
#define btTransformData
Definition: btTransform.h:23
bool operator==(const btTransform &t1, const btTransform &t2)
Test if two transforms have all elements equal.
Definition: btTransform.h:237
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
void setFromOpenGLSubMatrix(const btScalar *m)
Set from the rotational part of a 4x4 OpenGL matrix.
Definition: btMatrix3x3.h:188
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:1049
static const btMatrix3x3 & getIdentity()
Definition: btMatrix3x3.h:350
void getRotation(btQuaternion &q) const
Get the matrix represented as a quaternion.
Definition: btMatrix3x3.h:420
void deSerializeFloat(const struct btMatrix3x3FloatData &dataIn)
Definition: btMatrix3x3.h:1419
void setIdentity()
Set the matrix to the identity.
Definition: btMatrix3x3.h:323
void getOpenGLSubMatrix(btScalar *m) const
Fill the rotational part of an OpenGL matrix and clear the shear/perspective.
Definition: btMatrix3x3.h:367
btMatrix3x3 transposeTimes(const btMatrix3x3 &m) const
Definition: btMatrix3x3.h:1106
void deSerializeDouble(const struct btMatrix3x3DoubleData &dataIn)
Definition: btMatrix3x3.h:1425
void serialize(struct btMatrix3x3Data &dataOut) const
Definition: btMatrix3x3.h:1401
void serializeFloat(struct btMatrix3x3FloatData &dataOut) const
Definition: btMatrix3x3.h:1407
void deSerialize(const struct btMatrix3x3Data &dataIn)
Definition: btMatrix3x3.h:1413
void setRotation(const btQuaternion &q)
Set the matrix from a quaternion.
Definition: btMatrix3x3.h:215
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:50
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:182
btMatrix3x3 m_basis
Storage for the rotation.
Definition: btTransform.h:32
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:256
void serializeFloat(struct btTransformFloatData &dataOut) const
Definition: btTransform.h:262
btVector3 operator*(const btVector3 &x) const
Return the transform of the vector.
Definition: btTransform.h:96
btVector3 invXform(const btVector3 &inVec) const
Definition: btTransform.h:215
void deSerialize(const struct btTransformData &dataIn)
Definition: btTransform.h:268
const btVector3 & getOrigin() const
Return the origin vector translation.
Definition: btTransform.h:115
void deSerializeFloat(const struct btTransformFloatData &dataIn)
Definition: btTransform.h:274
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btTransform()
No initialization constructor.
Definition: btTransform.h:38
btTransform & operator*=(const btTransform &t)
Multiply this Transform by another(this = this * another)
Definition: btTransform.h:174
void setFromOpenGLMatrix(const btScalar *m)
Set from an array.
Definition: btTransform.h:127
void getOpenGLMatrix(btScalar *m) const
Fill an array representation.
Definition: btTransform.h:135
static const btTransform & getIdentity()
Return an identity transform.
Definition: btTransform.h:197
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
Definition: btTransform.h:160
void deSerializeDouble(const struct btTransformDoubleData &dataIn)
Definition: btTransform.h:280
btTransform(const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btMatrix3x3 (optional btVector3)
Definition: btTransform.h:52
btTransform & operator=(const btTransform &other)
Assignment Operator.
Definition: btTransform.h:65
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btQuaternion getRotation() const
Return a quaternion representing the rotation.
Definition: btTransform.h:118
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:146
btQuaternion operator*(const btQuaternion &q) const
Return the transform of the btQuaternion.
Definition: btTransform.h:102
void setBasis(const btMatrix3x3 &basis)
Set the rotational element by btMatrix3x3.
Definition: btTransform.h:154
btTransform(const btTransform &other)
Copy constructor.
Definition: btTransform.h:59
void mult(const btTransform &t1, const btTransform &t2)
Set the current transform as the value of the product of two transforms.
Definition: btTransform.h:76
const btMatrix3x3 & getBasis() const
Return the basis matrix for the rotation.
Definition: btTransform.h:110
btVector3 m_origin
Storage for the translation.
Definition: btTransform.h:34
btTransform inverseTimes(const btTransform &t) const
Return the inverse of this transform times the other transform.
Definition: btTransform.h:222
btVector3 operator()(const btVector3 &x) const
Return the transform of the vector.
Definition: btTransform.h:90
btTransform(const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btQuaternion (optional btVector3 )
Definition: btTransform.h:42
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
void deSerialize(const struct btVector3DoubleData &dataIn)
Definition: btVector3.h:1330
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1298
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1291
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
void deSerializeDouble(const struct btVector3DoubleData &dataIn)
Definition: btVector3.h:1311
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1317
for serialization
Definition: btMatrix3x3.h:1397
for serialization
Definition: btMatrix3x3.h:1391
btVector3DoubleData m_origin
Definition: btTransform.h:253
btMatrix3x3DoubleData m_basis
Definition: btTransform.h:252
for serialization
Definition: btTransform.h:245
btMatrix3x3FloatData m_basis
Definition: btTransform.h:246
btVector3FloatData m_origin
Definition: btTransform.h:247