TaoDeTransform.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _deTransform_h
#define _deTransform_h

class deTransform
{
public:
  DE_MATH_API deMatrix3& rotation();
  DE_MATH_API const deMatrix3& rotation() const;
  DE_MATH_API deVector3& translation();
  DE_MATH_API const deVector3& translation() const ;
  DE_MATH_API void identity();
  DE_MATH_API void operator=(const deTransform& t);
  DE_MATH_API void multiply(const deTransform& t1, const deTransform& t2);
  DE_MATH_API void inverse(const deTransform& t);
  DE_MATH_API void inversedMultiply(const deTransform& t1, const deTransform& t2);
  DE_MATH_API void multiplyInversed(const deTransform& t1, const deTransform& t2);
  DE_MATH_API void set(const deFrame& f);
  DE_MATH_API void set(const deMatrix3& m, const deVector3& v);
  void set(const deFloat alpha, const deFloat a, const deFloat d, const deFloat theta);
  void set(const deVector3& axis, const deFloat pitch, const deFloat angle);

private:
  deMatrix3 _m;
  deVector3 _v;
};

#endif // _deTransform_h