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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 Interface for class Transform.
*/
#ifndef _transform_h_
#define _transform_h_
#include "common.h"
#include "xyz.h"
//! Class representing 3d linear transforms.
/*! Not much functionality currently because is used mainly to pass info around for warp functionality
*/
class Transform
{
public:
//! Default constructor. NB Doesn't set up identity or anything.
Transform();
//! Copy constructor.
Transform(const Transform&);
//! Constructor specifying column vectors.
Transform(const XYZ& t,const XYZ& x,const XYZ& y,const XYZ& z);
//! Constructor specifying column-wise elements.
Transform(const std::vector<real>& v,uint starting_element=0);
//! virtual destructor in case of extension
virtual ~Transform();
//@{
//! Accessor
const XYZ& translate() const
{
return _translate;
}
const XYZ& basis_x() const
{
return _basis_x;
}
const XYZ& basis_y() const
{
return _basis_y;
}
const XYZ& basis_z() const
{
return _basis_z;
}
void translate(const XYZ &t)
{
_translate=t;
}
void basis_x(const XYZ &x)
{
_basis_x=x;
}
void basis_y(const XYZ &y)
{
_basis_y=y;
}
void basis_z(const XYZ &z)
{
_basis_z=z;
}
//@}
//! Get column-wise element values as a vector
const std::vector<real> get_columns() const;
//! Transform a point
const XYZ transformed(const XYZ& p) const;
//! Transform a point with no translation
const XYZ transformed_no_translate(const XYZ& p) const;
//! Concatenate transforms
Transform& concatenate_on_right(const Transform& t);
//! Concatenate transforms
Transform& concatenate_on_left(const Transform& t);
protected:
//@{
//! Translation component (column vector in matrix).
XYZ _translate;
XYZ _basis_x;
XYZ _basis_y;
XYZ _basis_z;
};
inline const XYZ operator*(const Transform& t,const XYZ& p)
{
return
t.basis_x()*p.x()
+t.basis_y()*p.y()
+t.basis_z()*p.z()
+t.translate();
}
inline std::ostream& operator<<(std::ostream& out,const Transform& t)
{
return out << t.translate() << ";" << t.basis_x() << "," << t.basis_y() << "," << t.basis_z();
}
class TransformIdentity : public Transform
{
public:
TransformIdentity()
{
translate(XYZ(0.0,0.0,0.0));
basis_x(XYZ(1.0,0.0,0.0));
basis_y(XYZ(0.0,1.0,0.0));
basis_z(XYZ(0.0,0.0,1.0));
}
};
class TransformTranslate : public Transform
{
public:
TransformTranslate(const XYZ& t)
{
translate(t);
basis_x(XYZ(1.0,0.0,0.0));
basis_y(XYZ(0.0,1.0,0.0));
basis_z(XYZ(0.0,0.0,1.0));
}
};
class TransformScale : public Transform
{
public:
TransformScale(const XYZ& s)
{
translate(XYZ(0.0,0.0,0.0));
basis_x(XYZ(s.x(),0.0,0.0));
basis_y(XYZ(0.0,s.y(),0.0));
basis_z(XYZ(0.0,0.0,s.z()));
}
TransformScale(real s)
{
translate(XYZ(0.0,0.0,0.0));
basis_x(XYZ(s,0.0,0.0));
basis_y(XYZ(0.0,s,0.0));
basis_z(XYZ(0.0,0.0,s));
}
};
class TransformRotateX : public Transform
{
public:
TransformRotateX(real a)
{
const real sa=sin(a);
const real ca=cos(a);
translate(XYZ(0.0,0.0,0.0));
basis_x(XYZ(1.0,0.0,0.0));
basis_y(XYZ(0.0, ca , sa ));
basis_z(XYZ(0.0,-sa , ca ));
}
};
class TransformRotateY : public Transform
{
public:
TransformRotateY(real a)
{
const real sa=sin(a);
const real ca=cos(a);
translate(XYZ(0.0,0.0,0.0));
basis_x(XYZ( ca ,0.0,-sa ));
basis_y(XYZ(0.0,1.0,0.0));
basis_z(XYZ( sa ,0.0, ca ));
}
};
class TransformRotateZ : public Transform
{
public:
TransformRotateZ(real a)
{
const real sa=sin(a);
const real ca=cos(a);
translate(XYZ(0.0,0.0,0.0));
basis_x(XYZ( ca , sa ,0.0));
basis_y(XYZ(-sa , ca ,0.0));
basis_z(XYZ(0.0,0.0,1.0));
}
};
#endif
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