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
|
/*
* Copyright (C) 2010 Learning Algorithms and Systems Laboratory, EPFL, Switzerland
* Author: Eric Sauser
* email: eric.sauser@a3.epf.ch
* website: lasa.epfl.ch
*
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* This program 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
*/
#ifndef __ReferenceFrame_H__
#define __ReferenceFrame_H__
#include "MathLibCommon.h"
#include "Vector3.h"
#include "Matrix3.h"
#include "Matrix4.h"
#define REFFRAME_NONE 0
#define REFFRAME_BASEREF -1
#define REFFRAME_HMATRIX +1
#ifdef USE_MATHLIB_NAMESPACE
namespace MathLib{
#endif
class ReferenceFrame;
typedef ReferenceFrame *pReferenceFrame;
/**
* \class ReferenceFrame
*
* \ingroup MathLib
*
* \brief A wrapper class to consider frame of references
*
*/
class ReferenceFrame
{
protected:
Vector3 mOrigin;
Matrix3 mOrient;
Matrix4 mHMatrix;
ReferenceFrame *mInverse;
int mInvalidRepresentation;
bool bInverseChanged;
public:
inline ReferenceFrame(){
mInverse = new ReferenceFrame(this);
Init();
}
inline ReferenceFrame(const ReferenceFrame & referenceFrame){
ReferenceFrame();
Set(referenceFrame);
}
inline ReferenceFrame(const Vector3 &origin, const Matrix3 &orient){
ReferenceFrame();
Set(origin,orient);
}
inline ReferenceFrame(const Matrix4 & hMatrix){
ReferenceFrame();
SetHMatrix(hMatrix);
}
inline ~ReferenceFrame(){
if(mInverse!=NULL){
mInverse->mInverse = NULL;
delete mInverse;
mInverse = NULL;
}
}
inline ReferenceFrame& Set(const ReferenceFrame& referenceFrame){
Set(referenceFrame.mOrigin,referenceFrame.mOrient);
return *this;
}
inline ReferenceFrame& operator = (const ReferenceFrame& referenceFrame){
return Set(referenceFrame);
}
inline ReferenceFrame& Set(const Vector3& origin, const Matrix3& orient){
SetOrigin(origin);
SetOrient(orient);
return *this;
}
inline ReferenceFrame& Identity(){
SetOrigin(Vector3::ZERO);
SetOrient(Matrix3::IDENTITY);
return *this;
}
inline const Vector3& GetOrigin(){
if(bInverseChanged) UpdateFromInverse();
else if (mInvalidRepresentation == REFFRAME_BASEREF) UpdateBaseRef();
return mOrigin;
}
inline const Matrix3& GetOrient(){
if(bInverseChanged) UpdateFromInverse();
else if (mInvalidRepresentation == REFFRAME_BASEREF) UpdateBaseRef();
return mOrient;
}
inline const Matrix4& GetHMatrix(){
if(bInverseChanged) UpdateFromInverse();
else if (mInvalidRepresentation == REFFRAME_HMATRIX) UpdateHMatrix();
return mHMatrix;
}
inline Vector3& SetOrigin(){
mInvalidRepresentation = REFFRAME_HMATRIX;
mInverse->bInverseChanged = true;
return mOrigin;
}
inline Matrix3& SetOrient(){
mInvalidRepresentation = REFFRAME_HMATRIX;
mInverse->bInverseChanged = true;
return mOrient;
}
inline Matrix4& SetHMatrix(){
mInvalidRepresentation = REFFRAME_BASEREF;
mInverse->bInverseChanged = true;
return mHMatrix;
}
inline ReferenceFrame& SetOrigin(const Vector3& origin){
SetOrigin().Set(origin);
return *this;
}
inline ReferenceFrame& SetOrient(const Matrix3& orient){
SetOrient().Set(orient);
return *this;
}
inline ReferenceFrame& SetHMatrix(const Matrix4& hMatrix){
SetHMatrix().Set(hMatrix);
return *this;
}
inline Vector3& GetSetOrigin(){
GetOrigin();
return SetOrigin();
}
inline Matrix3& GetSetOrient(){
GetOrient();
return SetOrient();
}
inline Matrix4& GetSetHMatrix(){
GetHMatrix();
return SetHMatrix();
}
inline const Vector3& IGetOrigin(){
return mOrigin;
}
inline const Matrix3& IGetOrient(){
return mOrient;
}
inline const Matrix4& IGetHMatrix(){
return mHMatrix;
}
inline ReferenceFrame& GetInverse(){
return *mInverse;
}
inline ReferenceFrame Mult(ReferenceFrame& referenceFrame){
ReferenceFrame result;
Mult(referenceFrame,result);
return result;
}
inline ReferenceFrame& Mult(ReferenceFrame& referenceFrame, ReferenceFrame& result){
if(bInverseChanged) UpdateFromInverse();
else if(mInvalidRepresentation == REFFRAME_BASEREF) UpdateBaseRef();
mOrient.Mult(referenceFrame.GetOrient(),result.mOrient);
mOrient.Mult(referenceFrame.GetOrigin(),result.mOrigin);
result.SetOrigin()+=(mOrigin);
return *this;
}
inline void Update(){
if(bInverseChanged){
UpdateFromInverse();
}else{
if(!mInvalidRepresentation){
if(mInvalidRepresentation==REFFRAME_BASEREF){
UpdateBaseRef();
mInverse->Update();
}else{
UpdateHMatrix();
mInverse->Update();
}
}
}
}
protected:
inline void UpdateBaseRef(){
mHMatrix.GetTranslation(mOrigin);
mHMatrix.GetOrientation(mOrient);
mInvalidRepresentation = REFFRAME_NONE;
}
inline void UpdateHMatrix(){
mHMatrix.SetTransformation(mOrient,mOrigin);
mInvalidRepresentation = REFFRAME_NONE;
}
inline void UpdateFromInverse(){
if(mInverse->mInvalidRepresentation == REFFRAME_BASEREF)
mInverse->UpdateBaseRef();
mInverse->mOrient.Transpose(mOrient);
mOrient.Mult(mInverse->mOrigin,mOrigin);
mOrigin.SMinus();
mHMatrix.SetTransformation(mOrient,mOrigin);
mInvalidRepresentation = REFFRAME_NONE;
bInverseChanged = false;
}
private:
inline ReferenceFrame(ReferenceFrame *inverse){
mInverse = inverse;
Init();
}
inline void Init(){
Identity();
bInverseChanged = false;
}
};
#ifdef USE_MATHLIB_NAMESPACE
}
#endif
#endif
|