transform.h

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/*
* Copyright 2016 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.
*/

#pragma once

#include "gwnavruntime/math/matrix3x3f.h"
#include "gwnavruntime/containers/stringstream.h"

namespace Kaim
{

class Transform
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    // ---------------------------------- Functions ----------------------------------
    Transform() {}
    Transform(const Matrix3x3f& rotationMatrix) : R(rotationMatrix) {}
    Transform(const Vec3f& translation)         : T(translation) {}
    Transform(const Matrix3x3f& rotationMatrix, const Vec3f& translation) : R(rotationMatrix) , T(translation) {}

    void SetIdentity() { R.SetIdentity(); T = Vec3f::Zero(); }

    Vec3f Rotate(const Vec3f& to_rotate)         const { return R.Transform(to_rotate); }
    Vec3f Translate(const Vec3f& to_translate)   const { return to_translate + T; }
    Vec3f DoTransform(const Vec3f& to_transform) const { return R.Transform(to_transform) + T; }

    Matrix3x3f Rotate(const Matrix3x3f& to_rotate) const { return R.Transform(to_rotate); }

    Transform DoTransform(const Transform& to_transform) const
    {
        return Transform(R.Transform(to_transform.R), R.Transform(to_transform.T) + T);
    }

    bool operator==(const Transform& other) { return R == other.R && T == other.T; }
    bool operator!=(const Transform& other) { return !operator==(other); }

    // ---------------------------------- Data ----------------------------------
    Matrix3x3f R;
    Vec3f T;
};

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

template <class OSTREAM>
inline OSTREAM& operator<<(OSTREAM& os, const Transform& t)
{
    os << t.R;
    os << t.T << Endl;
    return os;
}


}