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/**************************************************************************/
/* Copyright 2012 Tim Day */
/* */
/* This file is part of Evolvotron */
/* */
/* Evolvotron is free software: you can redistribute it and/or modify */
/* it under the terms of the GNU General Public License as published by */
/* the Free Software Foundation, either version 3 of the License, or */
/* (at your option) any later version. */
/* */
/* Evolvotron is distributed in the hope that it will be useful, */
/* but WITHOUT ANY WARRANTY; without even the implied warranty of */
/* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the */
/* GNU General Public License for more details. */
/* */
/* You should have received a copy of the GNU General Public License */
/* along with Evolvotron. If not, see <http://www.gnu.org/licenses/>. */
/**************************************************************************/
/*! \file
\brief Implementation for class Transform.
*/
#include "transform.h"
Transform::Transform()
{}
Transform::Transform(const Transform& t)
:_translate(t.translate())
,_basis_x(t.basis_x())
,_basis_y(t.basis_y())
,_basis_z(t.basis_z())
{}
Transform::Transform(const XYZ& t,const XYZ& x,const XYZ& y,const XYZ& z)
:_translate(t)
,_basis_x(x)
,_basis_y(y)
,_basis_z(z)
{}
Transform::Transform(const std::vector<real>& v,uint s)
{
_translate.x(v[s+ 0]);_translate.y(v[s+ 1]);_translate.z(v[s+ 2]);
_basis_x.x( v[s+ 3]);_basis_x.y( v[s+ 4]);_basis_x.z( v[s+ 5]);
_basis_y.x( v[s+ 6]);_basis_y.y( v[s+ 7]);_basis_y.z( v[s+ 8]);
_basis_z.x( v[s+ 9]);_basis_z.y( v[s+10]);_basis_z.z( v[s+11]);
}
Transform::~Transform()
{}
const std::vector<real> Transform::get_columns() const
{
std::vector<real> ret(12);
ret[ 0]=_translate.x();ret[ 1]=_translate.y();ret[ 2]=_translate.z();
ret[ 3]=_basis_x.x() ;ret[ 4]=_basis_x.y() ;ret[ 5]=_basis_x.z();
ret[ 6]=_basis_y.x() ;ret[ 7]=_basis_y.y() ;ret[ 8]=_basis_y.z();
ret[ 9]=_basis_z.x() ;ret[10]=_basis_z.y() ;ret[11]=_basis_z.z();
return ret;
}
const XYZ Transform::transformed(const XYZ& p) const
{
return _translate+_basis_x*p.x()+_basis_y*p.y()+_basis_z*p.z();
}
const XYZ Transform::transformed_no_translate(const XYZ& p) const
{
return _basis_x*p.x()+_basis_y*p.y()+_basis_z*p.z();
}
Transform& Transform::concatenate_on_right(const Transform& t)
{
const XYZ bx(transformed_no_translate(t.basis_x()));
const XYZ by(transformed_no_translate(t.basis_y()));
const XYZ bz(transformed_no_translate(t.basis_z()));
const XYZ tr(transformed(t.translate()));
translate(tr);
basis_x(bx);
basis_y(by);
basis_z(bz);
return *this;
}
Transform& Transform::concatenate_on_left(const Transform& t)
{
const XYZ bx(t.transformed_no_translate(basis_x()));
const XYZ by(t.transformed_no_translate(basis_y()));
const XYZ bz(t.transformed_no_translate(basis_z()));
const XYZ tr(t.transformed(translate()));
translate(tr);
basis_x(bx);
basis_y(by);
basis_z(bz);
return *this;
}
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