Bullet Collision Detection & Physics Library
btTransform.h
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1/*
2Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans https://bulletphysics.org
3
4This software is provided 'as-is', without any express or implied warranty.
5In no event will the authors be held liable for any damages arising from the use of this software.
6Permission is granted to anyone to use this software for any purpose,
7including commercial applications, and to alter it and redistribute it freely,
8subject to the following restrictions:
9
101. 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.
112. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
123. 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
36public:
44 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
45 : m_basis(q),
46 m_origin(c)
47 {
48 }
49
54 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
55 : m_basis(b),
56 m_origin(c)
57 {
58 }
59
61 : m_basis(other.m_basis),
62 m_origin(other.m_origin)
63 {
64 }
65
67 {
68 m_basis = other.m_basis;
69 m_origin = other.m_origin;
70 return *this;
71 }
72
77 SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2)
78 {
79 m_basis = t1.m_basis * t2.m_basis;
80 m_origin = t1(t2.m_origin);
81 }
82
83 /* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
84 btVector3 v = t2.m_origin - t1.m_origin;
85 m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
86 m_origin = v * t1.m_basis;
87 }
88 */
89
92 {
93 return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
94 }
95
98 {
99 return (*this)(x);
100 }
101
104 {
105 return getRotation() * q;
106 }
107
112
117
120 {
121 btQuaternion q;
122 m_basis.getRotation(q);
123 return q;
124 }
125
129 {
130 m_basis.setFromOpenGLSubMatrix(m);
131 m_origin.setValue(m[12], m[13], m[14]);
132 }
133
136 void getOpenGLMatrix(btScalar * m) const
137 {
138 m_basis.getOpenGLSubMatrix(m);
139 m[12] = m_origin.x();
140 m[13] = m_origin.y();
141 m[14] = m_origin.z();
142 m[15] = btScalar(1.0);
143 }
144
148 {
149 m_origin = origin;
150 }
151
152 SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
153
156 {
157 m_basis = basis;
158 }
159
162 {
163 m_basis.setRotation(q);
164 }
165
168 {
169 m_basis.setIdentity();
170 m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
171 }
172
176 {
178 m_basis *= t.m_basis;
179 return *this;
180 }
181
184 {
185 btMatrix3x3 inv = m_basis.transpose();
186 return btTransform(inv, inv * -m_origin);
187 }
188
192 btTransform inverseTimes(const btTransform& t) const;
193
195 btTransform operator*(const btTransform& t) const;
196
198 static const btTransform& getIdentity()
199 {
200 static const btTransform identityTransform(btMatrix3x3::getIdentity());
201 return identityTransform;
202 }
203
204 void serialize(struct btTransformData & dataOut) const;
205
206 void serializeFloat(struct btTransformFloatData & dataOut) const;
207
208 void deSerialize(const struct btTransformData& dataIn);
209
210 void deSerializeDouble(const struct btTransformDoubleData& dataIn);
211
212 void deSerializeFloat(const struct btTransformFloatData& dataIn);
213};
214
217{
218 btVector3 v = inVec - m_origin;
219 return (m_basis.transpose() * v);
220}
221
224{
225 btVector3 v = t.getOrigin() - m_origin;
226 return btTransform(m_basis.transposeTimes(t.m_basis),
227 v * m_basis);
228}
229
232{
233 return btTransform(m_basis * t.m_basis,
234 (*this)(t.m_origin));
235}
236
239{
240 return (t1.getBasis() == t2.getBasis() &&
241 t1.getOrigin() == t2.getOrigin());
242}
243
250
256
258{
259 m_basis.serialize(dataOut.m_basis);
260 m_origin.serialize(dataOut.m_origin);
261}
262
264{
265 m_basis.serializeFloat(dataOut.m_basis);
266 m_origin.serializeFloat(dataOut.m_origin);
267}
268
270{
271 m_basis.deSerialize(dataIn.m_basis);
272 m_origin.deSerialize(dataIn.m_origin);
273}
274
276{
277 m_basis.deSerializeFloat(dataIn.m_basis);
278 m_origin.deSerializeFloat(dataIn.m_origin);
279}
280
282{
283 m_basis.deSerializeDouble(dataIn.m_basis);
284 m_origin.deSerializeDouble(dataIn.m_origin);
285}
286
287#endif //BT_TRANSFORM_H
btMatrix3x3 operator*(const btMatrix3x3 &m, const btScalar &k)
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.
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition btMatrix3x3.h:50
static const btMatrix3x3 & getIdentity()
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
const btVector3 & getOrigin() const
Return the origin vector translation.
btTransform inverse() const
Return the inverse of this transform.
btMatrix3x3 m_basis
Storage for the rotation.
Definition btTransform.h:32
void serialize(struct btTransformData &dataOut) const
void serializeFloat(struct btTransformFloatData &dataOut) const
btVector3 operator*(const btVector3 &x) const
Return the transform of the vector.
Definition btTransform.h:97
btTransform & operator=(const btTransform &other)
Assignment Operator.
Definition btTransform.h:66
btVector3 invXform(const btVector3 &inVec) const
void deSerialize(const struct btTransformData &dataIn)
void deSerializeFloat(const struct btTransformFloatData &dataIn)
btTransform()
No initialization constructor.
Definition btTransform.h:39
void setFromOpenGLMatrix(const btScalar *m)
Set from an array.
void getOpenGLMatrix(btScalar *m) const
Fill an array representation.
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
static const btTransform & getIdentity()
Return an identity transform.
BT_DECLARE_ALIGNED_ALLOCATOR()
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
void deSerializeDouble(const struct btTransformDoubleData &dataIn)
btTransform(const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btMatrix3x3 (optional btVector3)
Definition btTransform.h:53
btTransform & operator*=(const btTransform &t)
Multiply this Transform by another(this = this * another)
void setIdentity()
Set this transformation to the identity.
btQuaternion getRotation() const
Return a quaternion representing the rotation.
btVector3 & getOrigin()
Return the origin vector translation.
void setOrigin(const btVector3 &origin)
Set the translational element.
btQuaternion operator*(const btQuaternion &q) const
Return the transform of the btQuaternion.
void setBasis(const btMatrix3x3 &basis)
Set the rotational element by btMatrix3x3.
btTransform(const btTransform &other)
Copy constructor.
Definition btTransform.h:60
void mult(const btTransform &t1, const btTransform &t2)
Set the current transform as the value of the product of two transforms.
Definition btTransform.h:77
btVector3 m_origin
Storage for the translation.
Definition btTransform.h:34
const btMatrix3x3 & getBasis() const
Return the basis matrix for the rotation.
btTransform inverseTimes(const btTransform &t) const
Return the inverse of this transform times the other transform.
btVector3 operator()(const btVector3 &x) const
Return the transform of the vector.
Definition btTransform.h:91
btTransform(const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btQuaternion (optional btVector3 )
Definition btTransform.h:43
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition btVector3.h:720
for serialization
for serialization
btVector3DoubleData m_origin
btMatrix3x3DoubleData m_basis
for serialization
btMatrix3x3FloatData m_basis
btVector3FloatData m_origin