💿🐜 Antkeeper source code
https://antkeeper.com
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134 lines
3.4 KiB
134 lines
3.4 KiB
/*
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* Copyright (C) 2021 Christopher J. Howard
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*
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* This file is part of Antkeeper source code.
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*
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* Antkeeper source code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper source code 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 General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef ANTKEEPER_PHYSICS_FRAME_HPP
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#define ANTKEEPER_PHYSICS_FRAME_HPP
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#include "math/math.hpp"
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#include <cmath>
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namespace physics {
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/**
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* 3-dimensional frame of reference.
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*
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* @tparam T Scalar type.
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*/
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template <class T>
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struct frame
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{
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public:
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/// Scalar type.
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typedef T scalar_type;
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/// Vector type.
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typedef math::vector3<T> vector_type;
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/// Quaternion type.
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typedef math::quaternion<T> quaternion_type;
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/// Transformation matrix type.
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typedef math::matrix<T, 4, 4> matrix_type;
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/// Vector representing a translation from the origin of this frame to the origin of the parent frame.
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vector_type translation;
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/// Quaternion representing a rotation from the orientation of this frame to the orientation of the parent frame.
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quaternion_type rotation;
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/// Returns the inverse of this frame.
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frame inverse() const;
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/// Returns a transformation matrix representation of this frame.
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matrix_type matrix() const;
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/**
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* Transforms a vector from the parent frame space to this frame's space.
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*
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* @param v Vector in parent frame space.
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* @return Vector in this frame's space.
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*/
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vector_type transform(const vector_type& v) const;
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/**
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* Transforms a frame from the parent frame space to this frame's space.
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*
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* @param f Frame in parent frame space.
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* @return Frame in this frame's space.
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*/
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frame transform(const frame& f) const;
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/// @copydoc frame::transform(const vector_type&) const
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vector_type operator*(const vector_type& v) const;
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/// @copydoc frame::transform(const frame&) const
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frame operator*(const frame& f) const;
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};
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template <class T>
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frame<T> frame<T>::inverse() const
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{
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const quaternion_type inverse_rotation = math::conjugate(rotation);
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const vector_type inverse_translation = -(inverse_rotation * translation);
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return frame{inverse_translation, inverse_rotation};
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}
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template <class T>
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typename frame<T>::matrix_type frame<T>::matrix() const
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{
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matrix_type m = math::resize<4, 4>(math::matrix_cast<T>(rotation));
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m[3].x = translation.x;
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m[3].y = translation.y;
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m[3].z = translation.z;
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return m;
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}
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template <class T>
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typename frame<T>::vector_type frame<T>::transform(const vector_type& v) const
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{
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return translation + rotation * v;
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}
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template <class T>
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frame<T> frame<T>::transform(const frame& f) const
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{
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return frame
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{
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f.transform(translation),
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math::normalize(f.rotation * rotation)
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};
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}
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template <class T>
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typename frame<T>::vector_type frame<T>::operator*(const vector_type& v) const
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{
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return transform(v);
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}
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template <class T>
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frame<T> frame<T>::operator*(const frame& f) const
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{
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return transform(f);
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}
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} // namespace physics
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#endif // ANTKEEPER_PHYSICS_FRAME_HPP
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