/usr/include/tf/LinearMath/Transform.h is in libtf-dev 1.11.7-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef tfTransform_H
#define tfTransform_H
#include "Matrix3x3.h"
namespace tf
{
#define TransformData TransformDoubleData
/**@brief The Transform class supports rigid transforms with only translation and rotation and no scaling/shear.
*It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes. */
class Transform {
///Storage for the rotation
Matrix3x3 m_basis;
///Storage for the translation
Vector3 m_origin;
public:
/**@brief No initialization constructor */
Transform() {}
/**@brief Constructor from Quaternion (optional Vector3 )
* @param q Rotation from quaternion
* @param c Translation from Vector (default 0,0,0) */
explicit TFSIMD_FORCE_INLINE Transform(const Quaternion& q,
const Vector3& c = Vector3(tfScalar(0), tfScalar(0), tfScalar(0)))
: m_basis(q),
m_origin(c)
{}
/**@brief Constructor from Matrix3x3 (optional Vector3)
* @param b Rotation from Matrix
* @param c Translation from Vector default (0,0,0)*/
explicit TFSIMD_FORCE_INLINE Transform(const Matrix3x3& b,
const Vector3& c = Vector3(tfScalar(0), tfScalar(0), tfScalar(0)))
: m_basis(b),
m_origin(c)
{}
/**@brief Copy constructor */
TFSIMD_FORCE_INLINE Transform (const Transform& other)
: m_basis(other.m_basis),
m_origin(other.m_origin)
{
}
/**@brief Assignment Operator */
TFSIMD_FORCE_INLINE Transform& operator=(const Transform& other)
{
m_basis = other.m_basis;
m_origin = other.m_origin;
return *this;
}
/**@brief Set the current transform as the value of the product of two transforms
* @param t1 Transform 1
* @param t2 Transform 2
* This = Transform1 * Transform2 */
TFSIMD_FORCE_INLINE void mult(const Transform& t1, const Transform& t2) {
m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin);
}
/* void multInverseLeft(const Transform& t1, const Transform& t2) {
Vector3 v = t2.m_origin - t1.m_origin;
m_basis = tfMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
}
*/
/**@brief Return the transform of the vector */
TFSIMD_FORCE_INLINE Vector3 operator()(const Vector3& x) const
{
return Vector3(m_basis[0].dot(x) + m_origin.x(),
m_basis[1].dot(x) + m_origin.y(),
m_basis[2].dot(x) + m_origin.z());
}
/**@brief Return the transform of the vector */
TFSIMD_FORCE_INLINE Vector3 operator*(const Vector3& x) const
{
return (*this)(x);
}
/**@brief Return the transform of the Quaternion */
TFSIMD_FORCE_INLINE Quaternion operator*(const Quaternion& q) const
{
return getRotation() * q;
}
/**@brief Return the basis matrix for the rotation */
TFSIMD_FORCE_INLINE Matrix3x3& getBasis() { return m_basis; }
/**@brief Return the basis matrix for the rotation */
TFSIMD_FORCE_INLINE const Matrix3x3& getBasis() const { return m_basis; }
/**@brief Return the origin vector translation */
TFSIMD_FORCE_INLINE Vector3& getOrigin() { return m_origin; }
/**@brief Return the origin vector translation */
TFSIMD_FORCE_INLINE const Vector3& getOrigin() const { return m_origin; }
/**@brief Return a quaternion representing the rotation */
Quaternion getRotation() const {
Quaternion q;
m_basis.getRotation(q);
return q;
}
/**@brief Set from an array
* @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
void setFromOpenGLMatrix(const tfScalar *m)
{
m_basis.setFromOpenGLSubMatrix(m);
m_origin.setValue(m[12],m[13],m[14]);
}
/**@brief Fill an array representation
* @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
void getOpenGLMatrix(tfScalar *m) const
{
m_basis.getOpenGLSubMatrix(m);
m[12] = m_origin.x();
m[13] = m_origin.y();
m[14] = m_origin.z();
m[15] = tfScalar(1.0);
}
/**@brief Set the translational element
* @param origin The vector to set the translation to */
TFSIMD_FORCE_INLINE void setOrigin(const Vector3& origin)
{
m_origin = origin;
}
TFSIMD_FORCE_INLINE Vector3 invXform(const Vector3& inVec) const;
/**@brief Set the rotational element by Matrix3x3 */
TFSIMD_FORCE_INLINE void setBasis(const Matrix3x3& basis)
{
m_basis = basis;
}
/**@brief Set the rotational element by Quaternion */
TFSIMD_FORCE_INLINE void setRotation(const Quaternion& q)
{
m_basis.setRotation(q);
}
/**@brief Set this transformation to the identity */
void setIdentity()
{
m_basis.setIdentity();
m_origin.setValue(tfScalar(0.0), tfScalar(0.0), tfScalar(0.0));
}
/**@brief Multiply this Transform by another(this = this * another)
* @param t The other transform */
Transform& operator*=(const Transform& t)
{
m_origin += m_basis * t.m_origin;
m_basis *= t.m_basis;
return *this;
}
/**@brief Return the inverse of this transform */
Transform inverse() const
{
Matrix3x3 inv = m_basis.transpose();
return Transform(inv, inv * -m_origin);
}
/**@brief Return the inverse of this transform times the other transform
* @param t The other transform
* return this.inverse() * the other */
Transform inverseTimes(const Transform& t) const;
/**@brief Return the product of this transform and the other */
Transform operator*(const Transform& t) const;
/**@brief Return an identity transform */
static const Transform& getIdentity()
{
static const Transform identityTransform(Matrix3x3::getIdentity());
return identityTransform;
}
void serialize(struct TransformData& dataOut) const;
void serializeFloat(struct TransformFloatData& dataOut) const;
void deSerialize(const struct TransformData& dataIn);
void deSerializeDouble(const struct TransformDoubleData& dataIn);
void deSerializeFloat(const struct TransformFloatData& dataIn);
};
TFSIMD_FORCE_INLINE Vector3
Transform::invXform(const Vector3& inVec) const
{
Vector3 v = inVec - m_origin;
return (m_basis.transpose() * v);
}
TFSIMD_FORCE_INLINE Transform
Transform::inverseTimes(const Transform& t) const
{
Vector3 v = t.getOrigin() - m_origin;
return Transform(m_basis.transposeTimes(t.m_basis),
v * m_basis);
}
TFSIMD_FORCE_INLINE Transform
Transform::operator*(const Transform& t) const
{
return Transform(m_basis * t.m_basis,
(*this)(t.m_origin));
}
/**@brief Test if two transforms have all elements equal */
TFSIMD_FORCE_INLINE bool operator==(const Transform& t1, const Transform& t2)
{
return ( t1.getBasis() == t2.getBasis() &&
t1.getOrigin() == t2.getOrigin() );
}
///for serialization
struct TransformFloatData
{
Matrix3x3FloatData m_basis;
Vector3FloatData m_origin;
};
struct TransformDoubleData
{
Matrix3x3DoubleData m_basis;
Vector3DoubleData m_origin;
};
TFSIMD_FORCE_INLINE void Transform::serialize(TransformData& dataOut) const
{
m_basis.serialize(dataOut.m_basis);
m_origin.serialize(dataOut.m_origin);
}
TFSIMD_FORCE_INLINE void Transform::serializeFloat(TransformFloatData& dataOut) const
{
m_basis.serializeFloat(dataOut.m_basis);
m_origin.serializeFloat(dataOut.m_origin);
}
TFSIMD_FORCE_INLINE void Transform::deSerialize(const TransformData& dataIn)
{
m_basis.deSerialize(dataIn.m_basis);
m_origin.deSerialize(dataIn.m_origin);
}
TFSIMD_FORCE_INLINE void Transform::deSerializeFloat(const TransformFloatData& dataIn)
{
m_basis.deSerializeFloat(dataIn.m_basis);
m_origin.deSerializeFloat(dataIn.m_origin);
}
TFSIMD_FORCE_INLINE void Transform::deSerializeDouble(const TransformDoubleData& dataIn)
{
m_basis.deSerializeDouble(dataIn.m_basis);
m_origin.deSerializeDouble(dataIn.m_origin);
}
}
#endif
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