105 lines
3.8 KiB
C++
105 lines
3.8 KiB
C++
/***************************************************************************
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* Copyright (c) 2006 Jürgen Riegel <juergen.riegel@web.de> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#ifndef BASE_PLACEMENT_H
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#define BASE_PLACEMENT_H
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#include "Rotation.h"
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#include "Vector3D.h"
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namespace Base {
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class DualQuat;
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class Matrix4D;
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/**
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* The Placement class.
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*/
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class BaseExport Placement
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{
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public:
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/// default constructor
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Placement();
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Placement(const Placement&) = default;
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Placement(Placement&&) = default;
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Placement(const Base::Matrix4D& matrix);
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Placement(const Vector3d& Pos, const Rotation &Rot);
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Placement(const Vector3d& Pos, const Rotation &Rot, const Vector3d& Cnt);
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/** specialty constructors */
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//@{
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static Placement fromDualQuaternion(DualQuat qq);
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//@}
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/// Destruction
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~Placement () = default;
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Matrix4D toMatrix() const;
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void fromMatrix(const Matrix4D& m);
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DualQuat toDualQuaternion() const;
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const Vector3d& getPosition() const {return _pos;}
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const Rotation& getRotation() const {return _rot;}
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void setPosition(const Vector3d& Pos){_pos=Pos;}
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void setRotation(const Rotation& Rot) {_rot = Rot;}
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bool isIdentity() const;
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bool isIdentity(double tol) const;
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void invert();
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Placement inverse() const;
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void move(const Vector3d& MovVec);
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bool isSame(const Placement&) const;
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bool isSame(const Placement&, double tol) const;
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/** Operators. */
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//@{
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Placement & operator*=(const Placement & p);
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Placement operator *(const Placement & p) const;
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bool operator == (const Placement&) const;
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bool operator != (const Placement&) const;
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Placement& operator = (const Placement&) = default;
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Placement& operator = (Placement&&) = default;
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Placement pow(double t, bool shorten = true) const;
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Placement& multRight(const Base::Placement& p);
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Placement& multLeft(const Base::Placement& p);
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void multVec(const Vector3d & src, Vector3d & dst) const;
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void multVec(const Vector3f & src, Vector3f & dst) const;
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//@}
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static Placement slerp(const Placement & p0, const Placement & p1, double t);
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static Placement sclerp(const Placement & p0, const Placement & p1, double t, bool shorten = true);
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private:
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Vector3<double> _pos;
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Base::Rotation _rot;
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};
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} // namespace Base
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#endif // BASE_PLACEMENT_H
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