/** * @file llcoordframe.h * @brief LLCoordFrame class header file. * * $LicenseInfo:firstyear=2000&license=viewerlgpl$ * Second Life Viewer Source Code * Copyright (C) 2010, Linden Research, Inc. * * 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; * version 2.1 of the License only. * * 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA * $/LicenseInfo$ */ #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