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Diffstat (limited to 'indra/llmath/llcoordframe.h')
| -rw-r--r-- | indra/llmath/llcoordframe.h | 156 |
1 files changed, 156 insertions, 0 deletions
diff --git a/indra/llmath/llcoordframe.h b/indra/llmath/llcoordframe.h new file mode 100644 index 0000000000..ddd20c4491 --- /dev/null +++ b/indra/llmath/llcoordframe.h @@ -0,0 +1,156 @@ +/** + * @file llcoordframe.h + * @brief LLCoordFrame class header file. + * + * Copyright (c) 2000-$CurrentYear$, Linden Research, Inc. + * $License$ + */ + +#ifndef LL_COORDFRAME_H +#define LL_COORDFRAME_H + +#include "v3math.h" +#include "v4math.h" +#include "llerror.h" + +// XXX : The constructors of the LLCoordFrame class assume that all vectors +// and quaternion being passed as arguments are normalized, and all matrix +// arguments are unitary. VERY BAD things will happen if these assumptions fail. +// Also, segfault hazzards exist in methods that accept F32* arguments. + + +class LLCoordFrame +{ +public: + LLCoordFrame(); // Inits at zero with identity rotation + explicit LLCoordFrame(const LLVector3 &origin); // Sets origin, and inits rotation = Identity + LLCoordFrame(const LLVector3 &x_axis, + const LLVector3 &y_axis, + const LLVector3 &z_axis); // Sets coordinate axes and inits origin at zero + LLCoordFrame(const LLVector3 &origin, + const LLVector3 &x_axis, + const LLVector3 &y_axis, + const LLVector3 &z_axis); // Sets the origin and coordinate axes + LLCoordFrame(const LLVector3 &origin, + const LLMatrix3 &rotation); // Sets axes to 3x3 matrix + LLCoordFrame(const LLVector3 &origin, + const LLVector3 &direction); // Sets origin and calls lookDir(direction) + explicit LLCoordFrame(const LLQuaternion &q); // Sets axes using q and inits mOrigin to zero + LLCoordFrame(const LLVector3 &origin, + const LLQuaternion &q); // Uses quaternion to init axes + explicit LLCoordFrame(const LLMatrix4 &mat); // Extracts frame from a 4x4 matrix + // The folowing two constructors are dangerous due to implicit casting and have been disabled - SJB + //LLCoordFrame(const F32 *origin, const F32 *rotation); // Assumes "origin" is 1x3 and "rotation" is 1x9 array + //LLCoordFrame(const F32 *origin_and_rotation); // Assumes "origin_and_rotation" is 1x12 array + + BOOL isFinite() { return mOrigin.isFinite() && mXAxis.isFinite() && mYAxis.isFinite() && mZAxis.isFinite(); } + + void reset(); + void resetAxes(); + + void setOrigin(F32 x, F32 y, F32 z); // Set mOrigin + void setOrigin(const LLVector3 &origin); + void setOrigin(const F32 *origin); + void setOrigin(const LLCoordFrame &frame); + + inline void setOriginX(F32 x) { mOrigin.mV[VX] = x; } + inline void setOriginY(F32 y) { mOrigin.mV[VY] = y; } + inline void setOriginZ(F32 z) { mOrigin.mV[VZ] = z; } + + void setAxes(const LLVector3 &x_axis, // Set axes + const LLVector3 &y_axis, + const LLVector3 &z_axis); + void setAxes(const LLMatrix3 &rotation_matrix); + void setAxes(const LLQuaternion &q); + void setAxes(const F32 *rotation_matrix); + void setAxes(const LLCoordFrame &frame); + + void translate(F32 x, F32 y, F32 z); // Move mOrgin + void translate(const LLVector3 &v); + void translate(const F32 *origin); + + void rotate(F32 angle, F32 x, F32 y, F32 z); // Move axes + void rotate(F32 angle, const LLVector3 &rotation_axis); + void rotate(const LLQuaternion &q); + void rotate(const LLMatrix3 &m); + + void orthonormalize(); // Makes sure axes are unitary and orthogonal. + + // These methods allow rotations in the LLCoordFrame's frame + void roll(F32 angle); // RH rotation about mXAxis, radians + void pitch(F32 angle); // RH rotation about mYAxis, radians + void yaw(F32 angle); // RH rotation about mZAxis, radians + + inline const LLVector3 &getOrigin() const { return mOrigin; } + + inline const LLVector3 &getXAxis() const { return mXAxis; } + inline const LLVector3 &getYAxis() const { return mYAxis; } + inline const LLVector3 &getZAxis() const { return mZAxis; } + + inline const LLVector3 &getAtAxis() const { return mXAxis; } + inline const LLVector3 &getLeftAxis() const { return mYAxis; } + inline const LLVector3 &getUpAxis() const { return mZAxis; } + + // These return representations of the rotation or orientation of the LLFrame + // it its absolute frame. That is, these rotations acting on the X-axis {1,0,0} + // will produce the mXAxis. + // LLMatrix3 getMatrix3() const; // Returns axes in 3x3 matrix + LLQuaternion getQuaternion() const; // Returns axes in quaternion form + + // Same as above, except it also includes the translation of the LLFrame + // LLMatrix4 getMatrix4() const; // Returns position and axes in 4x4 matrix + + // Returns matrix which expresses point in local frame in the parent frame + void getMatrixToParent(LLMatrix4 &mat) const; + // Returns matrix which expresses point in parent frame in the local frame + void getMatrixToLocal(LLMatrix4 &mat) const; // Returns matrix which expresses point in parent frame in the local frame + + void getRotMatrixToParent(LLMatrix4 &mat) const; + + // Copies mOrigin, then the three axes to buffer, returns number of bytes copied. + size_t writeOrientation(char *buffer) const; + + // Copies mOrigin, then the three axes from buffer, returns the number of bytes copied. + // Assumes the data in buffer is correct. + size_t readOrientation(const char *buffer); + + LLVector3 rotateToLocal(const LLVector3 &v) const; // Returns v' rotated to local + LLVector4 rotateToLocal(const LLVector4 &v) const; // Returns v' rotated to local + LLVector3 rotateToAbsolute(const LLVector3 &v) const; // Returns v' rotated to absolute + LLVector4 rotateToAbsolute(const LLVector4 &v) const; // Returns v' rotated to absolute + + LLVector3 transformToLocal(const LLVector3 &v) const; // Returns v' in local coord + LLVector4 transformToLocal(const LLVector4 &v) const; // Returns v' in local coord + LLVector3 transformToAbsolute(const LLVector3 &v) const; // Returns v' in absolute coord + LLVector4 transformToAbsolute(const LLVector4 &v) const; // Returns v' in absolute coord + + // Write coord frame orientation into provided array in OpenGL matrix format. + void getOpenGLTranslation(F32 *ogl_matrix) const; + void getOpenGLRotation(F32 *ogl_matrix) const; + void getOpenGLTransform(F32 *ogl_matrix) const; + + // lookDir orients to (xuv, presumed normalized) and does not affect origin + void lookDir(const LLVector3 &xuv, const LLVector3 &up); + void lookDir(const LLVector3 &xuv); // up = 0,0,1 + // lookAt orients to (point_of_interest - origin) and sets origin + void lookAt(const LLVector3 &origin, const LLVector3 &point_of_interest, const LLVector3 &up); + void lookAt(const LLVector3 &origin, const LLVector3 &point_of_interest); // up = 0,0,1 + + // deprecated + void setOriginAndLookAt(const LLVector3 &origin, const LLVector3 &up, const LLVector3 &point_of_interest) + { + lookAt(origin, point_of_interest, up); + } + + friend std::ostream& operator<<(std::ostream &s, const LLCoordFrame &C); + + // These vectors are in absolute frame + LLVector3 mOrigin; + LLVector3 mXAxis; + LLVector3 mYAxis; + LLVector3 mZAxis; +}; + + +#endif + |