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:
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
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
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
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{
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
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
static const btMatrix3x3 & getIdentity()
Definition: btMatrix3x3.h:350
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
const btVector3 & getOrigin() const
Return the origin vector translation.
Definition: btTransform.h:115
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:182
btMatrix3x3 m_basis
Storage for the rotation.
Definition: btTransform.h:32
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
btTransform & operator=(const btTransform &other)
Assignment Operator.
Definition: btTransform.h:65
btVector3 invXform(const btVector3 &inVec) const
Definition: btTransform.h:215
void deSerialize(const struct btTransformData &dataIn)
Definition: btTransform.h:268
void deSerializeFloat(const struct btTransformFloatData &dataIn)
Definition: btTransform.h:274
btTransform()
No initialization constructor.
Definition: btTransform.h:38
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
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
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 &t)
Multiply this Transform by another(this = this * another)
Definition: btTransform.h:174
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
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
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
btVector3 m_origin
Storage for the translation.
Definition: btTransform.h:34
const btMatrix3x3 & getBasis() const
Return the basis matrix for the rotation.
Definition: btTransform.h:110
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 & 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
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
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