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/* ScummVM - Graphic Adventure Engine
*
* ScummVM is the legal property of its developers, whose names
* are too numerous to list here. Please refer to the COPYRIGHT
* file distributed with this source distribution.
*
* This program 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 2
* of the License, or (at your option) any later version.
*
* 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.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
#ifndef TITANIC_FPOSE_H
#define TITANIC_FPOSE_H
#include "titanic/star_control/fmatrix.h"
namespace Titanic {
class CMatrixTransform;
/*
* This class combines a position and orientation in 3D space
*/
class FPose : public FMatrix {
public:
FVector _vector;
public:
FPose();
FPose(Axis axis, float amount);
FPose(const FPose &src);
FPose(int mode, const FVector &src);
/**
* This fpose is the fpose product of s1 (on the left) and s2 (on the right)
*/
FPose(const FPose &s1, const FPose &s2);
/**
* Sets an identity matrix
*/
void identity();
/**
* Sets a rotation matrix for the given axis for the given amount
*/
void setRotationMatrix(Axis axis, float val);
/**
* Rotate this FPose about the Y axis
*/
void rotVectAxisY(double angleDeg);
/**
* Copy from the specified source pose
*/
void copyFrom(const FPose &src);
/**
* Copy from the specified source matrix
*/
void copyFrom(const FMatrix &src);
/**
* Change this Daffine to have its first three columns be some mapping from src matrix
* and the 4rth column to be (three) zeros. The mapping is not as simple as replacing
* matching row/colmn indices
*/
void loadTransform(const CMatrixTransform &src);
/**
* The inverse of rotation and the position vector
*/
FPose inverseTransform() const;
/**
* Multiplication between this FPose (4x3) and a FMatrix (3x3)
* This is done by making the matrix be a FPose with a last row
* of zeros
*/
FPose compose(const FMatrix &m);
/**
* Multiplication between this FPose (4x3) and another FPose
* This FPose is on the left and m is on the right.
* The last row of m is added to the output component wise
*/
FPose compose2(const FPose &m);
};
/**
* Puts the fpose product between a and m in C, C = am
* Caller must preallocate output matrix
* Similar to matProd
*/
void fposeProd(const FPose &a, const FPose &m, FPose &C);
} // End of namespace Titanic
#endif /* TITANIC_FPOSE_H */
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