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 #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
28 ATTRIBUTE_ALIGNED16(class)
29 btTransform
30 {
32 btMatrix3x3 m_basis;
34 btVector3 m_origin;
35
36 public:
38 btTransform() {}
42 explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
43 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
44 : m_basis(q),
45 m_origin(c)
46 {
47 }
48
52 explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
53 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
54 : m_basis(b),
55 m_origin(c)
56 {
57 }
59 SIMD_FORCE_INLINE btTransform(const btTransform& other)
60 : m_basis(other.m_basis),
61 m_origin(other.m_origin)
62 {
63 }
65 SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
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
90 SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
91 {
92 return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
93 }
94
96 SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
97 {
98 return (*this)(x);
99 }
100
102 SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
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
118 btQuaternion getRotation() const
119 {
120 btQuaternion q;
121 m_basis.getRotation(q);
122 return q;
123 }
124
127 void setFromOpenGLMatrix(const btScalar* m)
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
146 SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
147 {
148 m_origin = origin;
149 }
150
151 SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
152
154 SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
155 {
156 m_basis = basis;
157 }
158
160 SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
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
174 btTransform& operator*=(const btTransform& t)
175 {
176 m_origin += m_basis * t.m_origin;
177 m_basis *= t.m_basis;
178 return *this;
179 }
180
182 btTransform inverse() const
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
214 SIMD_FORCE_INLINE btVector3
215 btTransform::invXform(const btVector3& inVec) const
216 {
217 btVector3 v = inVec - m_origin;
218 return (m_basis.transpose() * v);
219 }
220
221 SIMD_FORCE_INLINE btTransform
222 btTransform::inverseTimes(const btTransform& t) const
223 {
224 btVector3 v = t.getOrigin() - m_origin;
225 return btTransform(m_basis.transposeTimes(t.m_basis),
226 v * m_basis);
227 }
228
229 SIMD_FORCE_INLINE btTransform
230 btTransform::operator*(const btTransform& t) const
231 {
232 return btTransform(m_basis * t.m_basis,
233 (*this)(t.m_origin));
234 }
235
237 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
238 {
239 return (t1.getBasis() == t2.getBasis() &&
240 t1.getOrigin() == t2.getOrigin());
241 }
242
244 struct btTransformFloatData
245 {
246 btMatrix3x3FloatData m_basis;
247 btVector3FloatData m_origin;
248 };
249
250 struct btTransformDoubleData
251 {
252 btMatrix3x3DoubleData m_basis;
253 btVector3DoubleData m_origin;
254 };
255
256 SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
257 {
258 m_basis.serialize(dataOut.m_basis);
259 m_origin.serialize(dataOut.m_origin);
260 }
261
262 SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
263 {
264 m_basis.serializeFloat(dataOut.m_basis);
265 m_origin.serializeFloat(dataOut.m_origin);
266 }
267
268 SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
269 {
270 m_basis.deSerialize(dataIn.m_basis);
271 m_origin.deSerialize(dataIn.m_origin);
272 }
273
274 SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
275 {
276 m_basis.deSerializeFloat(dataIn.m_basis);
277 m_origin.deSerializeFloat(dataIn.m_origin);
278 }
279
280 SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
281 {
282 m_basis.deSerializeDouble(dataIn.m_basis);
283 m_origin.deSerializeDouble(dataIn.m_origin);
284 }
285
286 #endif //BT_TRANSFORM_H
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:146
btTransform::serializeFloat
void serializeFloat(struct btTransformFloatData &dataOut) const
Definition: btTransform.h:262
btTransformDoubleData::m_basis
btMatrix3x3DoubleData m_basis
Definition: btTransform.h:252
btMatrix3x3::deSerializeFloat
void deSerializeFloat(const struct btMatrix3x3FloatData &dataIn)
Definition: btMatrix3x3.h:1396
btMatrix3x3FloatData
for serialization
Definition: btMatrix3x3.h:1367
btMatrix3x3::serialize
void serialize(struct btMatrix3x3Data &dataOut) const
Definition: btMatrix3x3.h:1378
btTransform::deSerializeFloat
void deSerializeFloat(const struct btTransformFloatData &dataIn)
Definition: btTransform.h:274
btTransform::m_origin
btVector3 m_origin
Storage for the translation.
Definition: btTransform.h:34
btVector3::deSerializeDouble
void deSerializeDouble(const struct btVector3DoubleData &dataIn)
Definition: btVector3.h:1311
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btTransform::m_basis
btMatrix3x3 m_basis
Storage for the rotation.
Definition: btTransform.h:32
btMatrix3x3::setRotation
void setRotation(const btQuaternion &q)
Set the matrix from a quaternion.
Definition: btMatrix3x3.h:206
btMatrix3x3::serializeFloat
void serializeFloat(struct btMatrix3x3FloatData &dataOut) const
Definition: btMatrix3x3.h:1384
btTransform::getOrigin
const btVector3 & getOrigin() const
Return the origin vector translation.
Definition: btTransform.h:115
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
btTransform::setBasis
void setBasis(const btMatrix3x3 &basis)
Set the rotational element by btMatrix3x3.
Definition: btTransform.h:154
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btTransform::getRotation
btQuaternion getRotation() const
Return a quaternion representing the rotation.
Definition: btTransform.h:118
btVector3::serializeFloat
void serializeFloat(struct btVector3FloatData &dataOut) const
Definition: btVector3.h:1291
btTransform::operator()
btVector3 operator()(const btVector3 &x) const
Return the transform of the vector.
Definition: btTransform.h:90
btTransform::getOpenGLMatrix
void getOpenGLMatrix(btScalar *m) const
Fill an array representation.
Definition: btTransform.h:135
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btTransform::btTransform
btTransform()
No initialization constructor.
Definition: btTransform.h:38
btTransform::operator*
btVector3 operator*(const btVector3 &x) const
Return the transform of the vector.
Definition: btTransform.h:96
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:52
btMatrix3x3::transpose
btMatrix3x3 transpose() const
Return the transpose of the matrix.
Definition: btMatrix3x3.h:1026
btTransform::operator*
btQuaternion operator*(const btQuaternion &q) const
Return the transform of the btQuaternion.
Definition: btTransform.h:102
btMatrix3x3::deSerialize
void deSerialize(const struct btMatrix3x3Data &dataIn)
Definition: btMatrix3x3.h:1390
btMatrix3x3::transposeTimes
btMatrix3x3 transposeTimes(const btMatrix3x3 &m) const
Definition: btMatrix3x3.h:1083
btTransform::deSerialize
void deSerialize(const struct btTransformData &dataIn)
Definition: btTransform.h:268
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btTransformFloatData::m_origin
btVector3FloatData m_origin
Definition: btTransform.h:247
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
btMatrix3x3::deSerializeDouble
void deSerializeDouble(const struct btMatrix3x3DoubleData &dataIn)
Definition: btMatrix3x3.h:1402
btTransform::setFromOpenGLMatrix
void setFromOpenGLMatrix(const btScalar *m)
Set from an array.
Definition: btTransform.h:127
btTransform::inverseTimes
btTransform inverseTimes(const btTransform &t) const
Return the inverse of this transform times the other transform.
Definition: btTransform.h:222
operator*
btMatrix3x3 operator*(const btMatrix3x3 &m, const btScalar &k)
Definition: btMatrix3x3.h:907
btVector3::deSerialize
void deSerialize(const struct btVector3DoubleData &dataIn)
Definition: btVector3.h:1330
btTransform::setRotation
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
Definition: btTransform.h:160
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
btTransform::btTransform
btTransform(const btTransform &other)
Copy constructor.
Definition: btTransform.h:59
btTransform::serialize
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:256
operator==
bool operator==(const btTransform &t1, const btTransform &t2)
Test if two transforms have all elements equal.
Definition: btTransform.h:237
btTransform::invXform
btVector3 invXform(const btVector3 &inVec) const
Definition: btTransform.h:215
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1317
btMatrix3x3::getOpenGLSubMatrix
void getOpenGLSubMatrix(btScalar *m) const
Fill the rotational part of an OpenGL matrix and clear the shear/perspective.
Definition: btMatrix3x3.h:344
btTransform::getIdentity
static const btTransform & getIdentity()
Return an identity transform.
Definition: btTransform.h:197
btTransformFloatData
for serialization
Definition: btTransform.h:244
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:76
btTransform::getBasis
const btMatrix3x3 & getBasis() const
Return the basis matrix for the rotation.
Definition: btTransform.h:110
btTransform::operator*=
btTransform & operator*=(const btTransform &t)
Multiply this Transform by another(this = this * another)
Definition: btTransform.h:174
btTransform::btTransform
btTransform(const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
Constructor from btQuaternion (optional btVector3 )
Definition: btTransform.h:42
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:46
btVector3FloatData
Definition: btVector3.h:1281
btMatrix3x3DoubleData
for serialization
Definition: btMatrix3x3.h:1373
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:49
btMatrix3x3::setFromOpenGLSubMatrix
void setFromOpenGLSubMatrix(const btScalar *m)
Set from the rotational part of a 4x4 OpenGL matrix.
Definition: btMatrix3x3.h:179
btVector3::deSerializeFloat
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1298
btTransform::deSerializeDouble
void deSerializeDouble(const struct btTransformDoubleData &dataIn)
Definition: btTransform.h:280
btTransform::inverse
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:182
btTransformDoubleData
Definition: btTransform.h:250
btTransformData
#define btTransformData
Definition: btTransform.h:23
btTransformDoubleData::m_origin
btVector3DoubleData m_origin
Definition: btTransform.h:253
btMatrix3x3::getRotation
void getRotation(btQuaternion &q) const
Get the matrix represented as a quaternion.
Definition: btMatrix3x3.h:397
btTransformFloatData::m_basis
btMatrix3x3FloatData m_basis
Definition: btTransform.h:246
btMatrix3x3::setIdentity
void setIdentity()
Set the matrix to the identity.
Definition: btMatrix3x3.h:314
btMatrix3x3::getIdentity
static const btMatrix3x3 & getIdentity()
Definition: btMatrix3x3.h:327
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btVector3DoubleData
Definition: btVector3.h:1286
btTransform::operator=
btTransform & operator=(const btTransform &other)
Assignment Operator.
Definition: btTransform.h:65