TaoDeFrame.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,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#ifndef _deFrame_h
#define _deFrame_h

class deFrame
{
public:
  inline deFrame() { identity(); }
  
  inline deFrame(deFloat tx, deFloat ty, deFloat tz)
  { set(deQuaternion(), deVector3(tx, ty, tz)); }
  
  inline deFrame(deFrame const & orig): ori_quat_(orig.ori_quat_), translation_(orig.translation_) {}
  
  deQuaternion& rotation() { return ori_quat_; }
  const deQuaternion& rotation() const { return ori_quat_; }
  deVector3& translation() { return translation_; }
  const deVector3& translation() const { return translation_; }
  DE_MATH_API void identity();
  DE_MATH_API void operator=(const deFrame & f);

  DE_MATH_API void multiply(const deFrame& f1, const deFrame& f2);

  //       = ~[r1,p1][r2,p2] = [~r1, -(~r1*p1)][r2,p2] = [~r1*r2, ~r1*p2 - (~r1*p1)]
  //       = [~r1*r2, ~r1*(p2-p1)]
  DE_MATH_API void inversedMultiply(const deFrame& f1, const deFrame& f2);
  //       = [r1,p1]~[r2,p2] = [r1,p1][~r2, -(~r2*p2)] = [r1*~r2, -r1*(~r2*p2) + p1]
  //       = [r1*~r2, -r1*~r2*p2 + p1]
  DE_MATH_API void multiplyInversed(const deFrame& f1, const deFrame& f2);
  //     =  ~[r,p] = [~r, -(~r*p)]
  DE_MATH_API void inverse(const deFrame& f);
  DE_MATH_API void set(const deTransform& t);
  DE_MATH_API void set(const deQuaternion& q, const deVector3& v);

private:
  deQuaternion ori_quat_;
  deVector3 translation_;
};

#endif // _deFrame_h