1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
|
//-----------------------------------------------------------------------------
// BSPLIB HEADER: Transform3.h
//
// Copyright (c) 1997 by Markus Hadwiger
// All Rights Reserved.
//-----------------------------------------------------------------------------
#ifndef _TRANSFORM3_H_
#define _TRANSFORM3_H_
// bsplib header files
#include "BspLibDefs.h"
#include "Vertex.h"
BSPLIB_NAMESPACE_BEGIN
// general 3-D homogeneous transformation -------------------------------------
//
class Transform3 {
friend Transform3 operator *( const Transform3& trafo1, const Transform3& trafo2 );
public:
Transform3();
Transform3( const float trafo[4][4] );
Transform3( const double trafo[4][4] );
~Transform3() { }
// transform single vector by current transformation
Vector3 TransformVector3( const Vector3& vec ) const;
// concatenate two transformations (natural and reversed order)
Transform3& Concat( const Transform3& cattrafo );
Transform3& ConcatR( const Transform3& cattrafo );
// create elementary matrices
Transform3& LoadIdentity();
Transform3& LoadRotation( double angle, double x, double y, double z );
Transform3& LoadScale( double x, double y, double z );
Transform3& LoadTranslation( double x, double y, double z );
// elementary transformations in natural order
Transform3& Rotate( double angle, double x, double y, double z );
Transform3& Scale( double x, double y, double z );
Transform3& Translate( double x, double y, double z );
// elementary transformations in reversed order
Transform3& RotateR( double angle, double x, double y, double z );
Transform3& ScaleR( double x, double y, double z );
Transform3& TranslateR( double x, double y, double z );
// fetch translation part (optionally set it null afterwards)
Vector3 FetchTranslation() const;
Vector3 ExtractTranslation();
private:
// 4x4 matrix for 3-D homogeneous transformation (row vectors!)
double m_matrix[4][4];
};
// load identity matrix -------------------------------------------------------
inline Transform3& Transform3::LoadIdentity()
{
memset( m_matrix, 0, sizeof( m_matrix ) );
m_matrix[ 0 ][ 0 ] = 1.0;
m_matrix[ 1 ][ 1 ] = 1.0;
m_matrix[ 2 ][ 2 ] = 1.0;
m_matrix[ 3 ][ 3 ] = 1.0;
return *this;
}
// construct a transform3 -----------------------------------------------------
inline Transform3::Transform3()
{
// LoadIdentity();
}
// construct a transform3 directly from 4x4 matrix ----------------------------
inline Transform3::Transform3( const double trafo[4][4] )
{
//CAVEAT:
// the outer dimension of the matrix is not enforced!!
// trafo is actually of type double(*)[4]
memcpy( m_matrix, trafo, sizeof( m_matrix ) );
}
// construct a transform3 directly from 4x4 matrix ----------------------------
inline Transform3::Transform3( const float trafo[4][4] )
{
//CAVEAT:
// the outer dimension of the matrix is not enforced!!
// trafo is actually of type float(*)[4]
for ( int i = 0; i < 16; i++ )
((double *)m_matrix)[ i ] = (double) ((float *)trafo)[ i ];
}
BSPLIB_NAMESPACE_END
#endif // _TRANSFORM3_H_
|
