181 lines
7.7 KiB
C++
181 lines
7.7 KiB
C++
/**
|
|
* @file llcoordframe.h
|
|
* @brief LLCoordFrame class header file.
|
|
*
|
|
* $LicenseInfo:firstyear=2000&license=viewergpl$
|
|
*
|
|
* Copyright (c) 2000-2009, Linden Research, Inc.
|
|
*
|
|
* Second Life Viewer Source Code
|
|
* The source code in this file ("Source Code") is provided by Linden Lab
|
|
* to you under the terms of the GNU General Public License, version 2.0
|
|
* ("GPL"), unless you have obtained a separate licensing agreement
|
|
* ("Other License"), formally executed by you and Linden Lab. Terms of
|
|
* the GPL can be found in doc/GPL-license.txt in this distribution, or
|
|
* online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
|
|
*
|
|
* There are special exceptions to the terms and conditions of the GPL as
|
|
* it is applied to this Source Code. View the full text of the exception
|
|
* in the file doc/FLOSS-exception.txt in this software distribution, or
|
|
* online at
|
|
* http://secondlifegrid.net/programs/open_source/licensing/flossexception
|
|
*
|
|
* By copying, modifying or distributing this software, you acknowledge
|
|
* that you have read and understood your obligations described above,
|
|
* and agree to abide by those obligations.
|
|
*
|
|
* ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
|
|
* WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
|
|
* COMPLETENESS OR PERFORMANCE.
|
|
* $/LicenseInfo$
|
|
*/
|
|
|
|
#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
|
|
|