/*
* $Id$
*
* Copyright (C) 2012 Stephane GALLAND.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* This library 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
* This program is free software; you can redistribute it and/or modify
*/
package org.arakhne.afc.math.geometry.d3.continuous;
import org.arakhne.afc.math.geometry.d3.Tuple3D;
import org.arakhne.afc.math.matrix.Matrix4f;
import org.eclipse.xtext.xbase.lib.Pure;
/** A 3D transformation.
* Is represented internally as a 4x4 floating point matrix. The
* mathematical representation is row major, as in traditional
* matrix mathematics.
* <p>
* The transformation matrix is:
* <pre><code>
* | r11 | r12 | r13 | Tx |
* | r21 | r22 | r23 | Ty |
* | r31 | r32 | r33 | Tz |
* | 0 | 0 | 0 | 1 |
* </code></pre>
*
* @author $Author: sgalland$
* @version $FullVersion$
* @mavengroupid $GroupId$
* @mavenartifactid $ArtifactId$
*/
public class Transform3D extends Matrix4f {
private static final long serialVersionUID = -8427812783666663224L;
/** This is the identifity transformation.
*/
public static final Transform3D IDENTITY = new Transform3D();
/**
* Constructs a new Transform3D object and sets it to the identity transformation.
*/
public Transform3D() {
setIdentity();
}
/**
* Constructs and initializes a Matrix4f from the specified nine values.
*
* @param m00
* the [0][0] element
* @param m01
* the [0][1] element
* @param m02
* the [0][2] element
* @param m03
* the [0][3] element
* @param m10
* the [1][0] element
* @param m11
* the [1][1] element
* @param m12
* the [1][2] element
* @param m13
* the [1][3] element
* @param m20
* the [2][0] element
* @param m21
* the [2][1] element
* @param m22
* the [2][2] element
* @param m23
* the [2][3] element
*/
public Transform3D(double m_00, double m_01, double m_02, double m_03, double m_10, double m_11, double m_12, double m_13, double m_20, double m_21, double m_22, double m_23) {
super(m_00, m_01, m_02, m_03, m_10, m_11, m_12, m_13, m_20, m_21, m_22, m_23, 0f, 0f, 0f, 1f);
}
/**
* Constructs a new Transform3D object and initializes it from the
* specified transform.
*
* @param t
*/
public Transform3D(Transform3D t) {
super(t);
}
/**
* @param m
*/
public Transform3D(Matrix4f m) {
super(m);
}
@Pure
@Override
public Transform3D clone() {
return (Transform3D)super.clone();
}
/** Set the position.
* <p>
* This function changes only the elements of
* the matrix related to the translation.
* The scaling and the shearing are not changed.
* <p>
* After a call to this function, the matrix will
* contains (? means any value):
* <pre>
* [ ? ? x ]
* [ ? ? y ]
* [ ? ? z ]
* [ ? ? ? ]
* </pre>
*
* @param x
* @param y
* @param z
* @see #makeTranslationMatrix(double, double, double)
*/
public void setTranslation(double x, double y, double z) {
this.m03 = x;
this.m13 = y;
this.m23 = z;
}
/** Set the position.
* <p>
* This function changes only the elements of
* the matrix related to the translation.
* The scaling and the shearing are not changed.
* <p>
* After a call to this function, the matrix will
* contains (? means any value):
* <pre>
* [ ? ? t.x ]
* [ ? ? t.y ]
* [ ? ? t.z ]
* [ ? ? ? ]
* </pre>
*
* @param t
* @see #makeTranslationMatrix(double, double, double)
*/
public void setTranslation(Tuple3D<?> t) {
this.m03 = t.getX();
this.m13 = t.getY();
this.m23 = t.getZ();
}
/** Translate the position.
* <p>
* This function is equivalent to:
* <pre>
* this = this * [ 0 0 0 dx ]
* [ 0 0 0 dy ]
* [ 0 0 0 dz ]
* [ 0 0 0 1 ]
* </pre>
*
* @param dx
* @param dy
* @param dz
*/
public void translate(double dx, double dy, double dz) {
this.m03 += dx;
this.m13 += dy;
this.m23 += dz;
}
/** Translate the position.
* <p>
* This function is equivalent to:
* <pre>
* this = this * [ 0 0 0 t.x ]
* [ 0 0 0 t.y ]
* [ 0 0 0 t.z ]
* [ 0 0 0 1 ]
* </pre>
*
* @param t
*/
public void translate(Vector3f t) {
this.m03 += t.getX();
this.m13 += t.getY();
this.m23 += t.getZ();
}
/** Replies the X translation.
*
* @return the amount
*/
@Pure
public double getTranslationX() {
return this.m03;
}
/** Replies the Y translation.
*
* @return the amount
*/
@Pure
public double getTranslationY() {
return this.m13;
}
/** Replies the Z translation.
*
* @return the amount
*/
@Pure
public double getTranslationZ() {
return this.m23;
}
/** Replies the translation.
*
* @return the amount
*/
@Pure
public Vector3f getTranslation() {
return new Vector3f(this.m03, this.m13, this.m23);
}
/**
* Replies the rotation for the object.
*
* @return the amount
*/
@Pure
public Quaternion getRotation() {
Quaternion q = new Quaternion();
q.setFromMatrix(this);
return q;
}
/**
* Set the rotation for the object but do not change the translation.
* <p>
* This function changes only the elements of
* the matrix related to the rotation.
* The translation is not changed.
* <p>
* After a call to this function, the matrix will
* contains (? means any value, and r is the translation
* of the quaternion as a 3x3 matrix):
* <pre>
* [ r r r ? ]
* [ r r r ? ]
* [ r r r ? ]
* [ ? ? ? ? ]
* </pre>
*
* @param rotation
* @see #makeRotationMatrix(Quaternion)
*/
public void setRotation(Quaternion rotation) {
this.m00 = (1.0f - 2.0f*rotation.getY()*rotation.getY() - 2.0f*rotation.getZ()*rotation.getZ());
this.m10 = (2.0f*(rotation.getX()*rotation.getY() + rotation.getW()*rotation.getZ()));
this.m20 = (2.0f*(rotation.getX()*rotation.getZ() - rotation.getW()*rotation.getY()));
this.m01 = (2.0f*(rotation.getX()*rotation.getY() - rotation.getW()*rotation.getZ()));
this.m11 = (1.0f - 2.0f*rotation.getX()*rotation.getX() - 2.0f*rotation.getZ()*rotation.getZ());
this.m21 = (2.0f*(rotation.getY()*rotation.getZ() + rotation.getW()*rotation.getX()));
this.m02 = (2.0f*(rotation.getX()*rotation.getZ() + rotation.getW()*rotation.getY()));
this.m12 = (2.0f*(rotation.getY()*rotation.getZ() - rotation.getW()*rotation.getX()));
this.m22 = (1.0f - 2.0f*rotation.getX()*rotation.getX() - 2.0f*rotation.getY()*rotation.getY());
}
/**
* Rotate the object.
* <p>
* This function is equivalent to (where r is the translation
* of the quaternion as a 3x3 matrix):
* <pre>
* this = this * [ r r r 0 ]
* [ r r r 0 ]
* [ r r r 0 ]
* [ 0 0 0 1 ]
* </pre>
*
* @param rotation
*/
public void rotate(Quaternion rotation) {
Transform3D m = new Transform3D();
m.makeRotationMatrix(rotation);
mul(m);
}
/**
* Sets the value of this matrix to a rotation matrix, and no translation.
* <p>
* This function changes all the elements of
* the matrix, including the translation.
* <p>
* After a call to this function, the matrix will
* contains (? means any value, and r a value from
* the quaternion):
* <pre>
* [ r r r 0 ]
* [ r r r 0 ]
* [ r r r 0 ]
* [ 0 0 0 1 ]
* </pre>
*
* @param rotation
* @see #setRotation(Quaternion)
*/
public final void makeRotationMatrix(Quaternion rotation) {
this.m00 = (1.0f - 2.0f*rotation.getY()*rotation.getY() - 2.0f*rotation.getZ()*rotation.getZ());
this.m10 = (2.0f*(rotation.getX()*rotation.getY() + rotation.getW()*rotation.getZ()));
this.m20 = (2.0f*(rotation.getX()*rotation.getZ() - rotation.getW()*rotation.getY()));
this.m01 = (2.0f*(rotation.getX()*rotation.getY() - rotation.getW()*rotation.getZ()));
this.m11 = (1.0f - 2.0f*rotation.getX()*rotation.getX() - 2.0f*rotation.getZ()*rotation.getZ());
this.m21 = (2.0f*(rotation.getY()*rotation.getZ() + rotation.getW()*rotation.getX()));
this.m02 = (2.0f*(rotation.getX()*rotation.getZ() + rotation.getW()*rotation.getY()));
this.m12 = (2.0f*(rotation.getY()*rotation.getZ() - rotation.getW()*rotation.getX()));
this.m22 = (1.0f - 2.0f*rotation.getX()*rotation.getX() - 2.0f*rotation.getY()*rotation.getY());
this.m03 = 0.0;
this.m13 = 0.0;
this.m23 = 0.0;
this.m30 = 0.0;
this.m31 = 0.0;
this.m32 = 0.0;
this.m33 = 1.0;
}
/**
* Sets the value of this matrix to the given translation, without rotation.
* <p>
* This function changes all the elements of
* the matrix including the scaling and the shearing.
* <p>
* After a call to this function, the matrix will
* contains (? means any value):
* <pre>
* [ 1 0 0 dx ]
* [ 0 1 0 dy ]
* [ 0 0 1 dz ]
* [ 0 0 0 1 ]
* </pre>
*
* @param dx is the position to put in the matrix.
* @param dy is the position to put in the matrix.
* @param dz is the position to put in the matrix.
* @see #setTranslation(double, double, double)
* @see #setTranslation(Tuple3D)
*/
public final void makeTranslationMatrix(double dx, double dy, double dz) {
this.m00 = 1f;
this.m01 = 0f;
this.m02 = 0f;
this.m03 = dx;
this.m10 = 0f;
this.m11 = 1f;
this.m12 = 0f;
this.m13 = dy;
this.m20 = 0f;
this.m21 = 0f;
this.m22 = 1f;
this.m23 = dz;
this.m30 = 0f;
this.m31 = 0f;
this.m32 = 0f;
this.m33 = 1f;
}
/**
* Multiply this matrix by the tuple t and place the result back into the
* tuple (t = this*t).
*
* @param t
* the tuple to be multiplied by this matrix and then replaced
*/
public void transform(Tuple3D<?> t) {
double x, y, z;
x = this.m00 * t.getX() + this.m01 * t.getY() + this.m02 * t.getZ() + this.m03;
y = this.m10 * t.getX() + this.m11 * t.getY() + this.m12 * t.getZ() + this.m13;
z = this.m20 * t.getX() + this.m21 * t.getY() + this.m22 * t.getZ() + this.m23;
t.set(x, y, z);
}
/**
* Multiply this matrix by the tuple t and and place the result into the
* tuple "result" (result = this*t).
*
* @param t
* the tuple to be multiplied by this matrix
* @param result
* the tuple into which the product is placed
*/
public void transform(Tuple3D<?> t, Tuple3D<?> result) {
result.set(
this.m00 * t.getX() + this.m01 * t.getY() + this.m02 * t.getZ() + this.m03,
this.m10 * t.getX() + this.m11 * t.getY() + this.m12 * t.getZ() + this.m13,
this.m20 * t.getX() + this.m21 * t.getY() + this.m22 * t.getZ() + this.m23);
}
/**
* Set the components of the transformation.
*
* @param m00
* the [0][0] element
* @param m01
* the [0][1] element
* @param m02
* the [0][2] element
* @param m03
* the [0][3] element
* @param m10
* the [1][0] element
* @param m11
* the [1][1] element
* @param m12
* the [1][2] element
* @param m13
* the [1][3] element
* @param m20
* the [2][0] element
* @param m21
* the [2][1] element
* @param m22
* the [2][2] element
* @param m23
* the [2][3] element
*/
public void set(double m_00, double m_01, double m_02, double m_03, double m_10, double m_11, double m_12, double m_13, double m_20, double m_21, double m_22, double m_23) {
set(m_00, m_01, m_02, m_03, m_10, m_11, m_12, m_13, m_20, m_21, m_22, m_23, 0f, 0f, 0f, 1f);
}
}