/*******************************************************************************
* Copyright (c) 2013, Daniel Murphy
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
******************************************************************************/
package org.jbox2d.common;
import java.io.Serializable;
// updated to rev 100
/**
* A transform contains translation and rotation. It is used to represent the position and
* orientation of rigid frames.
*/
public class Transform implements Serializable {
private static final long serialVersionUID = 1L;
/** The translation caused by the transform */
public final Vec2 p;
/** A matrix representing a rotation */
public final Rot q;
/** The default constructor. */
public Transform() {
p = new Vec2();
q = new Rot();
}
/** Initialize as a copy of another transform. */
public Transform(final Transform xf) {
p = xf.p.clone();
q = xf.q.clone();
}
/** Initialize using a position vector and a rotation matrix. */
public Transform(final Vec2 _position, final Rot _R) {
p = _position.clone();
q = _R.clone();
}
/** Set this to equal another transform. */
public final Transform set(final Transform xf) {
p.set(xf.p);
q.set(xf.q);
return this;
}
/**
* Set this based on the position and angle.
*
* @param p
* @param angle
*/
public final void set(Vec2 p, float angle) {
this.p.set(p);
q.set(angle);
}
/** Set this to the identity transform. */
public final void setIdentity() {
p.setZero();
q.setIdentity();
}
public final static Vec2 mul(final Transform T, final Vec2 v) {
return new Vec2((T.q.c * v.x - T.q.s * v.y) + T.p.x, (T.q.s * v.x + T.q.c * v.y) + T.p.y);
}
public final static void mulToOut(final Transform T, final Vec2 v, final Vec2 out) {
final float tempy = (T.q.s * v.x + T.q.c * v.y) + T.p.y;
out.x = (T.q.c * v.x - T.q.s * v.y) + T.p.x;
out.y = tempy;
}
public final static void mulToOutUnsafe(final Transform T, final Vec2 v, final Vec2 out) {
assert (v != out);
out.x = (T.q.c * v.x - T.q.s * v.y) + T.p.x;
out.y = (T.q.s * v.x + T.q.c * v.y) + T.p.y;
}
public final static Vec2 mulTrans(final Transform T, final Vec2 v) {
final float px = v.x - T.p.x;
final float py = v.y - T.p.y;
return new Vec2((T.q.c * px + T.q.s * py), (-T.q.s * px + T.q.c * py));
}
public final static void mulTransToOut(final Transform T, final Vec2 v, final Vec2 out) {
final float px = v.x - T.p.x;
final float py = v.y - T.p.y;
final float tempy = (-T.q.s * px + T.q.c * py);
out.x = (T.q.c * px + T.q.s * py);
out.y = tempy;
}
public final static void mulTransToOutUnsafe(final Transform T, final Vec2 v, final Vec2 out) {
assert(v != out);
final float px = v.x - T.p.x;
final float py = v.y - T.p.y;
out.x = (T.q.c * px + T.q.s * py);
out.y = (-T.q.s * px + T.q.c * py);
}
public final static Transform mul(final Transform A, final Transform B) {
Transform C = new Transform();
Rot.mulUnsafe(A.q, B.q, C.q);
Rot.mulToOutUnsafe(A.q, B.p, C.p);
C.p.addLocal(A.p);
return C;
}
public final static void mulToOut(final Transform A, final Transform B, final Transform out) {
assert (out != A);
Rot.mul(A.q, B.q, out.q);
Rot.mulToOut(A.q, B.p, out.p);
out.p.addLocal(A.p);
}
public final static void mulToOutUnsafe(final Transform A, final Transform B, final Transform out) {
assert (out != B);
assert (out != A);
Rot.mulUnsafe(A.q, B.q, out.q);
Rot.mulToOutUnsafe(A.q, B.p, out.p);
out.p.addLocal(A.p);
}
private static Vec2 pool = new Vec2();
public final static Transform mulTrans(final Transform A, final Transform B) {
Transform C = new Transform();
Rot.mulTransUnsafe(A.q, B.q, C.q);
pool.set(B.p).subLocal(A.p);
Rot.mulTransUnsafe(A.q, pool, C.p);
return C;
}
public final static void mulTransToOut(final Transform A, final Transform B, final Transform out) {
assert (out != A);
Rot.mulTrans(A.q, B.q, out.q);
pool.set(B.p).subLocal(A.p);
Rot.mulTrans(A.q, pool, out.p);
}
public final static void mulTransToOutUnsafe(final Transform A, final Transform B,
final Transform out) {
assert (out != A);
assert (out != B);
Rot.mulTransUnsafe(A.q, B.q, out.q);
pool.set(B.p).subLocal(A.p);
Rot.mulTransUnsafe(A.q, pool, out.p);
}
@Override
public final String toString() {
String s = "XForm:\n";
s += "Position: " + p + "\n";
s += "R: \n" + q + "\n";
return s;
}
}