deFrame.h

Go to the documentation of this file.

/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
 *
 * 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:
        deQuaternion& rotation() { return _q; }
        const deQuaternion& rotation() const { return _q; }
        deVector3& translation() { return _v;; }
        const deVector3& translation() const { return _v; }
        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 _q;
        deVector3 _v;
};

#endif // _deFrame_h

---