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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
#ifndef TRANSFORM_H
#define TRANSFORM_H
#include "Vec3.h"
#include "Quat.h"
#include "Plane.h"
// Singe / VecVecReal Precision Vec 3
// Matthias Mueller
// derived from NxVec3.h
namespace M
{
class Transform
{
public:
Quat q;
Vec3 p;
Transform() {};
Transform(const Vec3& position): q(0, 0, 0, 1), p(position) {}
Transform(const Quat& orientation): q(orientation), p(0, 0, 0) {}
Transform(const Vec3& p0, const Quat& q0): q(q0), p(p0) {}
Transform operator*(const Transform& x) const
{
return transform(x);
}
Transform getInverse() const
{
return Transform(q.rotateInv(-p),q.getConjugate());
}
Vec3 transform(const Vec3& input) const
{
return q.rotate(input) + p;
}
Vec3 transformInv(const Vec3& input) const
{
return q.rotateInv(input-p);
}
Vec3 rotate(const Vec3& input) const
{
return q.rotate(input);
}
Vec3 rotateInv(const Vec3& input) const
{
return q.rotateInv(input);
}
Transform transform(const Transform& src) const
{
return Transform(q.rotate(src.p) + p, q*src.q);
}
Transform transformInv(const Transform& src) const
{
Quat qinv = q.getConjugate();
return Transform(qinv.rotate(src.p - p), qinv*src.q);
}
static Transform createIdentity()
{
return Transform(Vec3(0));
}
Plane transform(const Plane& plane) const
{
Vec3 transformedNormal = rotate(plane.n);
return Plane(transformedNormal, plane.d - p.dot(transformedNormal));
}
Plane inverseTransform(const Plane& plane) const
{
Vec3 transformedNormal = rotateInv(plane.n);
return Plane(transformedNormal, plane.d + p.dot(plane.n));
}
Transform getNormalized() const
{
return Transform(p, q.getNormalized());
}
};
}
#endif
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