125 lines
4.1 KiB
C++
125 lines
4.1 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 <string>
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#include "Rotation.h"
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namespace Base
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{
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class DualQuat;
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class Matrix4D;
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template<typename T>
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class Vector3;
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using Vector3d = Vector3<double>;
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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
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{
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return _pos;
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}
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const Rotation& getRotation() const
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{
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return _rot;
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}
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void setPosition(const Vector3d& Pos)
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{
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_pos = Pos;
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}
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void setRotation(const Rotation& Rot)
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{
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_rot = Rot;
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}
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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
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sclerp(const Placement& p0, const Placement& p1, double t, bool shorten = true);
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/// Returns string representation of the placement, useful for debugging
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std::string toString() const;
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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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