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Diffstat (limited to 'src/Runtime/Source/foundation/Qt3DSTransform.h')
| -rw-r--r-- | src/Runtime/Source/foundation/Qt3DSTransform.h | 195 |
1 files changed, 195 insertions, 0 deletions
diff --git a/src/Runtime/Source/foundation/Qt3DSTransform.h b/src/Runtime/Source/foundation/Qt3DSTransform.h new file mode 100644 index 00000000..0fee0a81 --- /dev/null +++ b/src/Runtime/Source/foundation/Qt3DSTransform.h @@ -0,0 +1,195 @@ +/**************************************************************************** +** +** Copyright (C) 2008-2012 NVIDIA Corporation. +** Copyright (C) 2017 The Qt Company Ltd. +** Contact: https://www.qt.io/licensing/ +** +** This file is part of Qt 3D Studio. +** +** $QT_BEGIN_LICENSE:GPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see https://www.qt.io/terms-conditions. For further +** information use the contact form at https://www.qt.io/contact-us. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3 or (at your option) any later version +** approved by the KDE Free Qt Foundation. The licenses are as published by +** the Free Software Foundation and appearing in the file LICENSE.GPL3 +** included in the packaging of this file. Please review the following +** information to ensure the GNU General Public License requirements will +** be met: https://www.gnu.org/licenses/gpl-3.0.html. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#ifndef QT3DS_FOUNDATION_QT3DS_TRANSFORM_H +#define QT3DS_FOUNDATION_QT3DS_TRANSFORM_H +/** \addtogroup foundation + @{ +*/ + +#include "foundation/Qt3DSQuat.h" +#include "foundation/Qt3DSPlane.h" + +#ifndef QT3DS_DOXYGEN +namespace qt3ds { +#endif + +/*! +\brief class representing a rigid euclidean transform as a quaternion and a vector +*/ + +class NVTransform +{ +public: + QT3DSQuat q; + QT3DSVec3 p; + + //#define PXTRANSFORM_DEFAULT_CONSTRUCT_NAN + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVTransform() +#ifdef PXTRANSFORM_DEFAULT_CONSTRUCT_IDENTITY + : q(0, 0, 0, 1) + , p(0, 0, 0) +#elif defined(PXTRANSFORM_DEFAULT_CONSTRUCT_NAN) +#define invalid NVSqrt(-1.0f) + : q(invalid, invalid, invalid, invalid) + , p(invalid, invalid, invalid) +#undef invalid +#endif + { + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE explicit NVTransform(const QT3DSVec3 &position) + : q(0, 0, 0, 1) + , p(position) + { + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE explicit NVTransform(const QT3DSQuat &orientation) + : q(orientation) + , p(0, 0, 0) + { + QT3DS_ASSERT(orientation.isSane()); + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVTransform(const QT3DSVec3 &p0, const QT3DSQuat &q0) + : q(q0) + , p(p0) + { + QT3DS_ASSERT(q0.isSane()); + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE explicit NVTransform(const QT3DSMat44 &m); // defined in Qt3DSMat44.h + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVTransform operator*(const NVTransform &x) const + { + QT3DS_ASSERT(x.isSane()); + return transform(x); + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVTransform getInverse() const + { + QT3DS_ASSERT(isFinite()); + return NVTransform(q.rotateInv(-p), q.getConjugate()); + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSVec3 transform(const QT3DSVec3 &input) const + { + QT3DS_ASSERT(isFinite()); + return q.rotate(input) + p; + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSVec3 transformInv(const QT3DSVec3 &input) const + { + QT3DS_ASSERT(isFinite()); + return q.rotateInv(input - p); + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSVec3 rotate(const QT3DSVec3 &input) const + { + QT3DS_ASSERT(isFinite()); + return q.rotate(input); + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSVec3 rotateInv(const QT3DSVec3 &input) const + { + QT3DS_ASSERT(isFinite()); + return q.rotateInv(input); + } + + //! Transform transform to parent (returns compound transform: first src, then *this) + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVTransform transform(const NVTransform &src) const + { + QT3DS_ASSERT(src.isSane()); + QT3DS_ASSERT(isSane()); + // src = [srct, srcr] -> [r*srct + t, r*srcr] + return NVTransform(q.rotate(src.p) + p, q * src.q); + } + + /** + \brief returns true if finite and q is a unit quaternion + */ + + QT3DS_CUDA_CALLABLE bool isValid() const { return p.isFinite() && q.isFinite() && q.isUnit(); } + + /** + \brief returns true if finite and quat magnitude is reasonably close to unit to allow for some + accumulation of error vs isValid + */ + + QT3DS_CUDA_CALLABLE bool isSane() const { return isFinite() && q.isSane(); } + + /** + \brief returns true if all elems are finite (not NAN or INF, etc.) + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE bool isFinite() const { return p.isFinite() && q.isFinite(); } + + //! Transform transform from parent (returns compound transform: first src, then this->inverse) + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVTransform transformInv(const NVTransform &src) const + { + QT3DS_ASSERT(src.isSane()); + QT3DS_ASSERT(isFinite()); + // src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr] + QT3DSQuat qinv = q.getConjugate(); + return NVTransform(qinv.rotate(src.p - p), qinv * src.q); + } + + QT3DS_CUDA_CALLABLE static QT3DS_FORCE_INLINE NVTransform createIdentity() + { + return NVTransform(QT3DSVec3(0)); + } + + /** + \brief transform plane + */ + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVPlane transform(const NVPlane &plane) const + { + QT3DSVec3 transformedNormal = rotate(plane.n); + return NVPlane(transformedNormal, plane.d - p.dot(transformedNormal)); + } + + /** + \brief inverse-transform plane + */ + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVPlane inverseTransform(const NVPlane &plane) const + { + QT3DSVec3 transformedNormal = rotateInv(plane.n); + return NVPlane(transformedNormal, plane.d + p.dot(plane.n)); + } +}; + +#ifndef QT3DS_DOXYGEN +} // namespace qt3ds +#endif + +/** @} */ +#endif // QT3DS_FOUNDATION_QT3DS_TRANSFORM_H |