OpenSimulator GForge > Projects > Hippo OpenSim Viewer > SVN

Annotation of /linden_release/linden/indra/llmath/llcoordframe.h

1 :	mjm	57	/**
2 :			* @file llcoordframe.h
3 :			* @brief LLCoordFrame class header file.
4 :			*
5 :			* $LicenseInfo:firstyear=2000&license=viewergpl$
6 :			*
7 :			* Copyright (c) 2000-2008, Linden Research, Inc.
8 :			*
9 :			* Second Life Viewer Source Code
10 :			* The source code in this file ("Source Code") is provided by Linden Lab
11 :			* to you under the terms of the GNU General Public License, version 2.0
12 :			* ("GPL"), unless you have obtained a separate licensing agreement
13 :			* ("Other License"), formally executed by you and Linden Lab. Terms of
14 :			* the GPL can be found in doc/GPL-license.txt in this distribution, or
15 :			* online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
16 :			*
17 :			* There are special exceptions to the terms and conditions of the GPL as
18 :			* it is applied to this Source Code. View the full text of the exception
19 :			* in the file doc/FLOSS-exception.txt in this software distribution, or
20 :			* online at http://secondlifegrid.net/programs/open_source/licensing/flossexception
21 :			*
22 :			* By copying, modifying or distributing this software, you acknowledge
23 :			* that you have read and understood your obligations described above,
24 :			* and agree to abide by those obligations.
25 :			*
26 :			* ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
27 :			* WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
28 :			* COMPLETENESS OR PERFORMANCE.
29 :			* $/LicenseInfo$
30 :			*/
31 :
32 :			#ifndef LL_COORDFRAME_H
33 :			#define LL_COORDFRAME_H
34 :
35 :			#include "v3math.h"
36 :			#include "v4math.h"
37 :			#include "llerror.h"
38 :
39 :			// XXX : The constructors of the LLCoordFrame class assume that all vectors
40 :			// and quaternion being passed as arguments are normalized, and all matrix
41 :			// arguments are unitary. VERY BAD things will happen if these assumptions fail.
42 :			// Also, segfault hazzards exist in methods that accept F32* arguments.
43 :
44 :
45 :			class LLCoordFrame
46 :			{
47 :			public:
48 :			LLCoordFrame(); // Inits at zero with identity rotation
49 :			explicit LLCoordFrame(const LLVector3 &origin); // Sets origin, and inits rotation = Identity
50 :			LLCoordFrame(const LLVector3 &x_axis,
51 :			const LLVector3 &y_axis,
52 :			const LLVector3 &z_axis); // Sets coordinate axes and inits origin at zero
53 :			LLCoordFrame(const LLVector3 &origin,
54 :			const LLVector3 &x_axis,
55 :			const LLVector3 &y_axis,
56 :			const LLVector3 &z_axis); // Sets the origin and coordinate axes
57 :			LLCoordFrame(const LLVector3 &origin,
58 :			const LLMatrix3 &rotation); // Sets axes to 3x3 matrix
59 :			LLCoordFrame(const LLVector3 &origin,
60 :			const LLVector3 &direction); // Sets origin and calls lookDir(direction)
61 :			explicit LLCoordFrame(const LLQuaternion &q); // Sets axes using q and inits mOrigin to zero
62 :			LLCoordFrame(const LLVector3 &origin,
63 :			const LLQuaternion &q); // Uses quaternion to init axes
64 :			explicit LLCoordFrame(const LLMatrix4 &mat); // Extracts frame from a 4x4 matrix
65 :			// The folowing two constructors are dangerous due to implicit casting and have been disabled - SJB
66 :			//LLCoordFrame(const F32 origin, const F32 rotation); // Assumes "origin" is 1x3 and "rotation" is 1x9 array
67 :			//LLCoordFrame(const F32 *origin_and_rotation); // Assumes "origin_and_rotation" is 1x12 array
68 :
69 :			BOOL isFinite() { return mOrigin.isFinite() && mXAxis.isFinite() && mYAxis.isFinite() && mZAxis.isFinite(); }
70 :
71 :			void reset();
72 :			void resetAxes();
73 :
74 :			void setOrigin(F32 x, F32 y, F32 z); // Set mOrigin
75 :			void setOrigin(const LLVector3 &origin);
76 :			void setOrigin(const F32 *origin);
77 :			void setOrigin(const LLCoordFrame &frame);
78 :
79 :			inline void setOriginX(F32 x) { mOrigin.mV[VX] = x; }
80 :			inline void setOriginY(F32 y) { mOrigin.mV[VY] = y; }
81 :			inline void setOriginZ(F32 z) { mOrigin.mV[VZ] = z; }
82 :
83 :			void setAxes(const LLVector3 &x_axis, // Set axes
84 :			const LLVector3 &y_axis,
85 :			const LLVector3 &z_axis);
86 :			void setAxes(const LLMatrix3 &rotation_matrix);
87 :			void setAxes(const LLQuaternion &q);
88 :			void setAxes(const F32 *rotation_matrix);
89 :			void setAxes(const LLCoordFrame &frame);
90 :
91 :			void translate(F32 x, F32 y, F32 z); // Move mOrgin
92 :			void translate(const LLVector3 &v);
93 :			void translate(const F32 *origin);
94 :
95 :			void rotate(F32 angle, F32 x, F32 y, F32 z); // Move axes
96 :			void rotate(F32 angle, const LLVector3 &rotation_axis);
97 :			void rotate(const LLQuaternion &q);
98 :			void rotate(const LLMatrix3 &m);
99 :
100 :			void orthonormalize(); // Makes sure axes are unitary and orthogonal.
101 :
102 :			// These methods allow rotations in the LLCoordFrame's frame
103 :			void roll(F32 angle); // RH rotation about mXAxis, radians
104 :			void pitch(F32 angle); // RH rotation about mYAxis, radians
105 :			void yaw(F32 angle); // RH rotation about mZAxis, radians
106 :
107 :			inline const LLVector3 &getOrigin() const { return mOrigin; }
108 :
109 :			inline const LLVector3 &getXAxis() const { return mXAxis; }
110 :			inline const LLVector3 &getYAxis() const { return mYAxis; }
111 :			inline const LLVector3 &getZAxis() const { return mZAxis; }
112 :
113 :			inline const LLVector3 &getAtAxis() const { return mXAxis; }
114 :			inline const LLVector3 &getLeftAxis() const { return mYAxis; }
115 :			inline const LLVector3 &getUpAxis() const { return mZAxis; }
116 :
117 :			// These return representations of the rotation or orientation of the LLFrame
118 :			// it its absolute frame. That is, these rotations acting on the X-axis {1,0,0}
119 :			// will produce the mXAxis.
120 :			// LLMatrix3 getMatrix3() const; // Returns axes in 3x3 matrix
121 :			LLQuaternion getQuaternion() const; // Returns axes in quaternion form
122 :
123 :			// Same as above, except it also includes the translation of the LLFrame
124 :			// LLMatrix4 getMatrix4() const; // Returns position and axes in 4x4 matrix
125 :
126 :			// Returns matrix which expresses point in local frame in the parent frame
127 :			void getMatrixToParent(LLMatrix4 &mat) const;
128 :			// Returns matrix which expresses point in parent frame in the local frame
129 :			void getMatrixToLocal(LLMatrix4 &mat) const; // Returns matrix which expresses point in parent frame in the local frame
130 :
131 :			void getRotMatrixToParent(LLMatrix4 &mat) const;
132 :
133 :			// Copies mOrigin, then the three axes to buffer, returns number of bytes copied.
134 :			size_t writeOrientation(char *buffer) const;
135 :
136 :			// Copies mOrigin, then the three axes from buffer, returns the number of bytes copied.
137 :			// Assumes the data in buffer is correct.
138 :			size_t readOrientation(const char *buffer);
139 :
140 :			LLVector3 rotateToLocal(const LLVector3 &v) const; // Returns v' rotated to local
141 :			LLVector4 rotateToLocal(const LLVector4 &v) const; // Returns v' rotated to local
142 :			LLVector3 rotateToAbsolute(const LLVector3 &v) const; // Returns v' rotated to absolute
143 :			LLVector4 rotateToAbsolute(const LLVector4 &v) const; // Returns v' rotated to absolute
144 :
145 :			LLVector3 transformToLocal(const LLVector3 &v) const; // Returns v' in local coord
146 :			LLVector4 transformToLocal(const LLVector4 &v) const; // Returns v' in local coord
147 :			LLVector3 transformToAbsolute(const LLVector3 &v) const; // Returns v' in absolute coord
148 :			LLVector4 transformToAbsolute(const LLVector4 &v) const; // Returns v' in absolute coord
149 :
150 :			// Write coord frame orientation into provided array in OpenGL matrix format.
151 :			void getOpenGLTranslation(F32 *ogl_matrix) const;
152 :			void getOpenGLRotation(F32 *ogl_matrix) const;
153 :			void getOpenGLTransform(F32 *ogl_matrix) const;
154 :
155 :			// lookDir orients to (xuv, presumed normalized) and does not affect origin
156 :			void lookDir(const LLVector3 &xuv, const LLVector3 &up);
157 :			void lookDir(const LLVector3 &xuv); // up = 0,0,1
158 :			// lookAt orients to (point_of_interest - origin) and sets origin
159 :			void lookAt(const LLVector3 &origin, const LLVector3 &point_of_interest, const LLVector3 &up);
160 :			void lookAt(const LLVector3 &origin, const LLVector3 &point_of_interest); // up = 0,0,1
161 :
162 :			// deprecated
163 :			void setOriginAndLookAt(const LLVector3 &origin, const LLVector3 &up, const LLVector3 &point_of_interest)
164 :			{
165 :			lookAt(origin, point_of_interest, up);
166 :			}
167 :
168 :			friend std::ostream& operator<<(std::ostream &s, const LLCoordFrame &C);
169 :
170 :			// These vectors are in absolute frame
171 :			LLVector3 mOrigin;
172 :			LLVector3 mXAxis;
173 :			LLVector3 mYAxis;
174 :			LLVector3 mZAxis;
175 :			};
176 :
177 :
178 :			#endif
179 :

	ViewVC Help
Powered by ViewVC 1.0.0

MyGforge Home

Hippo OpenSim Viewer

Annotation of /linden_release/linden/indra/llmath/llcoordframe.h