My favorites | Sign in
Project Home Downloads Issues Source
Checkout   Browse   Changes  
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
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/



#ifndef btTransform_H
#define btTransform_H


#include "btMatrix3x3.h"

#ifdef BT_USE_DOUBLE_PRECISION
#define btTransformData btTransformDoubleData
#else
#define btTransformData btTransformFloatData
#endif




/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
*It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
class btTransform {

///Storage for the rotation
btMatrix3x3 m_basis;
///Storage for the translation
btVector3 m_origin;

public:

/**@brief No initialization constructor */
btTransform() {}
/**@brief Constructor from btQuaternion (optional btVector3 )
* @param q Rotation from quaternion
* @param c Translation from Vector (default 0,0,0) */
explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
: m_basis(q),
m_origin(c)
{}

/**@brief Constructor from btMatrix3x3 (optional btVector3)
* @param b Rotation from Matrix
* @param c Translation from Vector default (0,0,0)*/
explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
: m_basis(b),
m_origin(c)
{}
/**@brief Copy constructor */
SIMD_FORCE_INLINE btTransform (const btTransform& other)
: m_basis(other.m_basis),
m_origin(other.m_origin)
{
}
/**@brief Assignment Operator */
SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
{
m_basis = other.m_basis;
m_origin = other.m_origin;
return *this;
}


/**@brief Set the current transform as the value of the product of two transforms
* @param t1 Transform 1
* @param t2 Transform 2
* This = Transform1 * Transform2 */
SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin);
}

/* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
btVector3 v = t2.m_origin - t1.m_origin;
m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
}
*/

/**@brief Return the transform of the vector */
SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
{
return btVector3(m_basis[0].dot(x) + m_origin.x(),
m_basis[1].dot(x) + m_origin.y(),
m_basis[2].dot(x) + m_origin.z());
}

/**@brief Return the transform of the vector */
SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
{
return (*this)(x);
}

/**@brief Return the transform of the btQuaternion */
SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
{
return getRotation() * q;
}

/**@brief Return the basis matrix for the rotation */
SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
/**@brief Return the basis matrix for the rotation */
SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }

/**@brief Return the origin vector translation */
SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
/**@brief Return the origin vector translation */
SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }

/**@brief Return a quaternion representing the rotation */
btQuaternion getRotation() const {
btQuaternion q;
m_basis.getRotation(q);
return q;
}


/**@brief Set from an array
* @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
void setFromOpenGLMatrix(const btScalar *m)
{
m_basis.setFromOpenGLSubMatrix(m);
m_origin.setValue(m[12],m[13],m[14]);
}

/**@brief Fill an array representation
* @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
void getOpenGLMatrix(btScalar *m) const
{
m_basis.getOpenGLSubMatrix(m);
m[12] = m_origin.x();
m[13] = m_origin.y();
m[14] = m_origin.z();
m[15] = btScalar(1.0);
}

/**@brief Set the translational element
* @param origin The vector to set the translation to */
SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
{
m_origin = origin;
}

SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;


/**@brief Set the rotational element by btMatrix3x3 */
SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
{
m_basis = basis;
}

/**@brief Set the rotational element by btQuaternion */
SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
{
m_basis.setRotation(q);
}


/**@brief Set this transformation to the identity */
void setIdentity()
{
m_basis.setIdentity();
m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
}

/**@brief Multiply this Transform by another(this = this * another)
* @param t The other transform */
btTransform& operator*=(const btTransform& t)
{
m_origin += m_basis * t.m_origin;
m_basis *= t.m_basis;
return *this;
}

/**@brief Return the inverse of this transform */
btTransform inverse() const
{
btMatrix3x3 inv = m_basis.transpose();
return btTransform(inv, inv * -m_origin);
}

/**@brief Return the inverse of this transform times the other transform
* @param t The other transform
* return this.inverse() * the other */
btTransform inverseTimes(const btTransform& t) const;

/**@brief Return the product of this transform and the other */
btTransform operator*(const btTransform& t) const;

/**@brief Return an identity transform */
static const btTransform& getIdentity()
{
static const btTransform identityTransform(btMatrix3x3::getIdentity());
return identityTransform;
}

void serialize(struct btTransformData& dataOut) const;

void serializeFloat(struct btTransformFloatData& dataOut) const;

void deSerialize(const struct btTransformData& dataIn);

void deSerializeDouble(const struct btTransformDoubleData& dataIn);

void deSerializeFloat(const struct btTransformFloatData& dataIn);

};


SIMD_FORCE_INLINE btVector3
btTransform::invXform(const btVector3& inVec) const
{
btVector3 v = inVec - m_origin;
return (m_basis.transpose() * v);
}

SIMD_FORCE_INLINE btTransform
btTransform::inverseTimes(const btTransform& t) const
{
btVector3 v = t.getOrigin() - m_origin;
return btTransform(m_basis.transposeTimes(t.m_basis),
v * m_basis);
}

SIMD_FORCE_INLINE btTransform
btTransform::operator*(const btTransform& t) const
{
return btTransform(m_basis * t.m_basis,
(*this)(t.m_origin));
}

/**@brief Test if two transforms have all elements equal */
SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
{
return ( t1.getBasis() == t2.getBasis() &&
t1.getOrigin() == t2.getOrigin() );
}


///for serialization
struct btTransformFloatData
{
btMatrix3x3FloatData m_basis;
btVector3FloatData m_origin;
};

struct btTransformDoubleData
{
btMatrix3x3DoubleData m_basis;
btVector3DoubleData m_origin;
};



SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
{
m_basis.serialize(dataOut.m_basis);
m_origin.serialize(dataOut.m_origin);
}

SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
{
m_basis.serializeFloat(dataOut.m_basis);
m_origin.serializeFloat(dataOut.m_origin);
}


SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
{
m_basis.deSerialize(dataIn.m_basis);
m_origin.deSerialize(dataIn.m_origin);
}

SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
{
m_basis.deSerializeFloat(dataIn.m_basis);
m_origin.deSerializeFloat(dataIn.m_origin);
}

SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
{
m_basis.deSerializeDouble(dataIn.m_basis);
m_origin.deSerializeDouble(dataIn.m_origin);
}


#endif






Change log

r1915 by erwin.coumans on Jan 25, 2010   Diff
added serialization support for
btCompoundShape, btCapsuleShapeX/Z,
btCylinderShapeX,Z
make some serialization methods const
prepare for constraint serialization
Go to: 
Project members, sign in to write a code review

Older revisions

r1909 by erwin.coumans on Jan 25, 2010   Diff
add support for double precision and
64bit serialization (and compatibility
between all versions)
fix some issue in serialization of
nested array data
...
r1852 by erwin.coumans on Dec 18, 2009   Diff
Avoid introducing virtual method to
non-virtual classes, just for
serialization
r1836 by erwin.coumans on Dec 8, 2009   Diff
Binary serialization in the .bullet
file format (work-in-progress)
All revisions of this file

File info

Size: 8789 bytes, 307 lines

File properties

svn:eol-style
native
Powered by Google Project Hosting