Bullet Collision Detection & Physics Library: btTransform.h Source File

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
34 ATTRIBUTE_ALIGNED16(class) btTransform {
35
37 btMatrix3x3 m_basis;
39 btVector3 m_origin;
40
41 public:
42
44 btTransform() {}
48 explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
49 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
50 : m_basis(q),
51 m_origin(c)
52 {}
53
57 explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
58 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
59 : m_basis(b),
60 m_origin(c)
61 {}
63 SIMD_FORCE_INLINE btTransform (const btTransform& other)
64 : m_basis(other.m_basis),
65 m_origin(other.m_origin)
66 {
67 }
69 SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
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
94 SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
95 {
96 return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
97 }
98
100 SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
101 {
102 return (*this)(x);
103 }
104
106 SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
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
122 btQuaternion getRotation() const {
123 btQuaternion q;
124 m_basis.getRotation(q);
125 return q;
126 }
127
128
131 void setFromOpenGLMatrix(const btScalar *m)
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
159 SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
160 {
161 m_basis = basis;
162 }
163
165 SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
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
180 btTransform& operator*=(const btTransform& t)
181 {
182 m_origin += m_basis * t.m_origin;
183 m_basis *= t.m_basis;
184 return *this;
185 }
186
188 btTransform inverse() const
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
222 SIMD_FORCE_INLINE btVector3
223 btTransform::invXform(const btVector3& inVec) const
224 {
225 btVector3 v = inVec - m_origin;
226 return (m_basis.transpose() * v);
227 }
228
229 SIMD_FORCE_INLINE btTransform
230 btTransform::inverseTimes(const btTransform& t) const
231 {
232 btVector3 v = t.getOrigin() - m_origin;
233 return btTransform(m_basis.transposeTimes(t.m_basis),
234 v * m_basis);
235 }
236
237 SIMD_FORCE_INLINE btTransform
238 btTransform::operator*(const btTransform& t) const
239 {
240 return btTransform(m_basis * t.m_basis,
241 (*this)(t.m_origin));
242 }
243
245 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
246 {
247 return ( t1.getBasis() == t2.getBasis() &&
248 t1.getOrigin() == t2.getOrigin() );
249 }
250
251
253 struct btTransformFloatData
254 {
255 btMatrix3x3FloatData m_basis;
256 btVector3FloatData m_origin;
257 };
258
259 struct btTransformDoubleData
260 {
261 btMatrix3x3DoubleData m_basis;
262 btVector3DoubleData m_origin;
263 };
264
265
266
267 SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
268 {
269 m_basis.serialize(dataOut.m_basis);
270 m_origin.serialize(dataOut.m_origin);
271 }
272
273 SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
274 {
275 m_basis.serializeFloat(dataOut.m_basis);
276 m_origin.serializeFloat(dataOut.m_origin);
277 }
278
279
280 SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
281 {
282 m_basis.deSerialize(dataIn.m_basis);
283 m_origin.deSerialize(dataIn.m_origin);
284 }
285
286 SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
287 {
288 m_basis.deSerializeFloat(dataIn.m_basis);
289 m_origin.deSerializeFloat(dataIn.m_origin);
290 }
291
292 SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
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
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:150
btTransform::serializeFloat
void serializeFloat(struct btTransformFloatData &dataOut) const
Definition: btTransform.h:273
btTransformDoubleData::m_basis
btMatrix3x3DoubleData m_basis
Definition: btTransform.h:261
btMatrix3x3::deSerializeFloat
void deSerializeFloat(const struct btMatrix3x3FloatData &dataIn)
Definition: btMatrix3x3.h:1378
btMatrix3x3FloatData
for serialization
Definition: btMatrix3x3.h:1345
btMatrix3x3::serialize
void serialize(struct btMatrix3x3Data &dataOut) const
Definition: btMatrix3x3.h:1359
btTransform::deSerializeFloat
void deSerializeFloat(const struct btTransformFloatData &dataIn)
Definition: btTransform.h:286
btTransform::m_origin
btVector3 m_origin
Storage for the translation.
Definition: btTransform.h:39
btVector3::deSerializeDouble
void deSerializeDouble(const struct btVector3DoubleData &dataIn)
Definition: btVector3.h:1343
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:650
btTransform::m_basis
btMatrix3x3 m_basis
Storage for the rotation.
Definition: btTransform.h:37
btMatrix3x3::setRotation
void setRotation(const btQuaternion &q)
Set the matrix from a quaternion.
Definition: btMatrix3x3.h:209
btMatrix3x3::serializeFloat
void serializeFloat(struct btMatrix3x3FloatData &dataOut) const
Definition: btMatrix3x3.h:1365
btTransform::getOrigin
const btVector3 & getOrigin() const
Return the origin vector translation.
Definition: btTransform.h:119
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:729
btTransform::setBasis
void setBasis(const btMatrix3x3 &basis)
Set the rotational element by btMatrix3x3.
Definition: btTransform.h:159
btVector3::deSerialize
void deSerialize(const struct btVector3Data &dataIn)
Definition: btVector3.h:1357
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btTransform::getRotation
btQuaternion getRotation() const
Return a quaternion representing the rotation.
Definition: btTransform.h:122
btVector3::serializeFloat
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1322
btTransform::operator()
btVector3 operator()(const btVector3 &x) const
Return the transform of the vector.
Definition: btTransform.h:94
btTransform::getOpenGLMatrix
void getOpenGLMatrix(btScalar *m) const
Fill an array representation.
Definition: btTransform.h:139
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:64
btTransform::btTransform
btTransform()
No initialization constructor.
Definition: btTransform.h:44
btTransform::operator*
btVector3 operator*(const btVector3 &x) const
Return the transform of the vector.
Definition: btTransform.h:100
btMatrix3x3.h
btTransform::btTransform
btTransform(const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btMatrix3x3 (optional btVector3)
Definition: btTransform.h:57
btMatrix3x3::transpose
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:1001
btTransform::operator*
btQuaternion operator*(const btQuaternion &q) const
Return the transform of the btQuaternion.
Definition: btTransform.h:106
btMatrix3x3::deSerialize
void deSerialize(const struct btMatrix3x3Data &dataIn)
Definition: btMatrix3x3.h:1372
btMatrix3x3::transposeTimes
btMatrix3x3 transposeTimes(const btMatrix3x3 &m) const
Definition: btMatrix3x3.h:1059
btTransform::deSerialize
void deSerialize(const struct btTransformData &dataIn)
Definition: btTransform.h:280
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btTransformFloatData::m_origin
btVector3FloatData m_origin
Definition: btTransform.h:256
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:585
btMatrix3x3::deSerializeDouble
void deSerializeDouble(const struct btMatrix3x3DoubleData &dataIn)
Definition: btMatrix3x3.h:1384
btTransform::setFromOpenGLMatrix
void setFromOpenGLMatrix(const btScalar *m)
Set from an array.
Definition: btTransform.h:131
btTransform::inverseTimes
btTransform inverseTimes(const btTransform &t) const
Return the inverse of this transform times the other transform.
Definition: btTransform.h:230
operator*
btMatrix3x3 operator*(const btMatrix3x3 &m, const btScalar &k)
Definition: btMatrix3x3.h:879
btTransform::setRotation
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
Definition: btTransform.h:165
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:587
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:589
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btTransform::btTransform
btTransform(const btTransform &other)
Copy constructor.
Definition: btTransform.h:63
btTransform::serialize
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:267
operator==
bool operator==(const btTransform &t1, const btTransform &t2)
Test if two transforms have all elements equal.
Definition: btTransform.h:245
btTransform::invXform
btVector3 invXform(const btVector3 &inVec) const
Definition: btTransform.h:223
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:65
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1350
btMatrix3x3::getOpenGLSubMatrix
void getOpenGLSubMatrix(btScalar *m) const
Fill the rotational part of an OpenGL matrix and clear the shear/perspective.
Definition: btMatrix3x3.h:347
btTransform::getIdentity
static const btTransform & getIdentity()
Return an identity transform.
Definition: btTransform.h:203
btTransformFloatData
for serialization
Definition: btTransform.h:253
btTransform::mult
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
btTransform::getBasis
const btMatrix3x3 & getBasis() const
Return the basis matrix for the rotation.
Definition: btTransform.h:114
btTransform::operator*=
btTransform & operator*=(const btTransform &t)
Multiply this Transform by another(this = this * another)
Definition: btTransform.h:180
btTransform::btTransform
btTransform(const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btQuaternion (optional btVector3 )
Definition: btTransform.h:48
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
btVector3FloatData
Definition: btVector3.h:1311
btMatrix3x3DoubleData
for serialization
Definition: btMatrix3x3.h:1351
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:55
btMatrix3x3::setFromOpenGLSubMatrix
void setFromOpenGLSubMatrix(const btScalar *m)
Set from the rotational part of a 4x4 OpenGL matrix.
Definition: btMatrix3x3.h:181
btVector3::deSerializeFloat
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1329
btTransform::deSerializeDouble
void deSerializeDouble(const struct btTransformDoubleData &dataIn)
Definition: btTransform.h:292
btTransform::inverse
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:188
btTransformDoubleData
Definition: btTransform.h:259
btTransformData
#define btTransformData
Definition: btTransform.h:26
btTransformDoubleData::m_origin
btVector3DoubleData m_origin
Definition: btTransform.h:262
btMatrix3x3::getRotation
void getRotation(btQuaternion &q) const
Get the matrix represented as a quaternion.
Definition: btMatrix3x3.h:400
btTransformFloatData::m_basis
btMatrix3x3FloatData m_basis
Definition: btTransform.h:255
btMatrix3x3::setIdentity
void setIdentity()
Set the matrix to the identity.
Definition: btMatrix3x3.h:317
btMatrix3x3::getIdentity
static const btMatrix3x3 & getIdentity()
Definition: btMatrix3x3.h:330
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btVector3DoubleData
Definition: btVector3.h:1316
btTransform::operator=
btTransform & operator=(const btTransform &other)
Assignment Operator.
Definition: btTransform.h:69