transform.h

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/*
* Copyright 2015 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/


// primary contact: LAPA - secondary contact: NOBODY
#ifndef Navigation_Transform_H
#define Navigation_Transform_H


#include "gwnavruntime/math/matrix3x3f.h"


namespace Kaim
{

class Transform
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)

public:
    // ---------------------------------- Public Member Functions ----------------------------------

    Transform(const Matrix3x3f& matrix = Matrix3x3f::Identity(), const Vec3f& position = Vec3f::Zero())
        : m_rotationMatrix(matrix)
        , m_translation(position)
    {}

    void SetIdentity()
    {
        m_translation = Vec3f::Zero();
        m_rotationMatrix.SetIdentity();
    }

    bool operator!=(const Transform& other)
    {
        return (
            (m_rotationMatrix != other.m_rotationMatrix) ||
            (m_translation != other.m_translation)
            );
    }

    bool operator==(const Transform& other)
    {
        return !(*this != other);
    }

    KY_INLINE Vec3f GetRootVector(const Vec3f& v) const { return m_rotationMatrix * v; }

    KY_INLINE void GetRootVector(const Vec3f& v, Vec3f& w) const { w = m_rotationMatrix * v; }

    KY_INLINE Vec3f GetRootCoordinates(const Vec3f& v) const { return m_translation + GetRootVector(v); }

    KY_INLINE void GetRootCoordinates(const Vec3f& v, Vec3f& w) const { GetRootVector(v, w); w += m_translation; }


    // ---------------------------------- Public Data Members ----------------------------------

    Matrix3x3f m_rotationMatrix;
    Vec3f m_translation;
};

KY_INLINE void SwapEndianness(Endianness::Target e, Transform& self)
{
    SwapEndianness(e, self.m_rotationMatrix);
    SwapEndianness(e, self.m_translation);
}


} // namespace Kaim

#endif // Navigation_Transform_H