TaoDeTransformInl.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
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 * permit persons to whom the Software is furnished to do so, subject
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 * The above copyright notice and this permission notice shall be included
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#ifndef _deTransform_inl
#define _deTransform_inl

DE_MATH_API deMatrix3& deTransform::rotation() { return _m; }
DE_MATH_API const deMatrix3& deTransform::rotation() const { return _m; }
DE_MATH_API deVector3& deTransform::translation() { return _v; }
DE_MATH_API const deVector3& deTransform::translation() const { return _v; }

DE_MATH_API void deTransform::identity() { _m.identity(); _v.zero(); }
DE_MATH_API void deTransform::operator=(const deTransform& t) { _m = t._m; _v = t._v; }
DE_MATH_API void deTransform::multiply(const deTransform& t1, const deTransform& t2) {
  _m.multiply(t1.rotation(), t2.rotation());
  _v.multiply(t1.rotation(), t2.translation());
  _v += t1.translation();
}
DE_MATH_API void deTransform::inverse(const deTransform& t) {
  _m.transpose(t.rotation());
  _v.multiply(_m, t.translation());
  _v.negate(_v);
}
DE_MATH_API void deTransform::inversedMultiply(const deTransform& t1, const deTransform& t2) {
  deVector3 p;
  p.subtract(t2.translation(), t1.translation());
  _v.transposedMultiply(t1.rotation(), p);
  _m.transposedMultiply(t1.rotation(), t2.rotation());
}
DE_MATH_API void deTransform::multiplyInversed(const deTransform& t1, const deTransform& t2)
{
  _m.multiplyTransposed(t1.rotation(), t2.rotation());
  _v.multiply(_m, t2.translation());
  _v.subtract(t1.translation(), _v);
}
DE_MATH_API void deTransform::set(const deFrame& f) { _m.set(f.rotation()); _v = f.translation(); }
DE_MATH_API void deTransform::set(const deMatrix3& m, const deVector3& v) { _m = m; _v = v; }

#endif // _deTransform_inl