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/******************************************************************/
/* This file is part of the homework assignments for CSCI-427/527 */
/* at The College of William & Mary and authored by Pieter Peers. */
/* No part of this file, whether altered or in original form, can */
/* be distributed or used outside the context of CSCI-427/527 */
/* without consent of either the College of William & Mary or */
/* Pieter Peers. */
/******************************************************************/
#include "transformation3d.h"
//////////////////
// Constructors //
//////////////////
transformation3d::transformation3d(void)
{
_translation = vec3d();
_transformation = mat3d(1.0f);
_inverseTransformation = mat3d(1.0f);
}
transformation3d::transformation3d(const vec3d& translation, const mat3d& transformation, const mat3d& inverseTransformation)
{
_translation = translation;
_transformation = transformation;
_inverseTransformation = inverseTransformation;
}
transformation3d::transformation3d(const transformation3d& t)
{
_translation = t._translation;
_transformation = t._transformation;
_inverseTransformation = t._inverseTransformation;
}
//////////////
// Operator //
//////////////
transformation3d& transformation3d::operator=(const transformation3d& t)
{
_assign(t);
return *this;
}
transformation3d transformation3d::operator*(const transformation3d& t) const
{
return transformation3d( transformPoint(t._translation),
_transformation * t._transformation,
t._inverseTransformation * _inverseTransformation);
}
transformation3d& transformation3d::operator*=(const transformation3d& t)
{
*this = *this * t;
return *this;
}
//////////////
// Mutators //
//////////////
transformation3d& transformation3d::invert(void)
{
_translation = _inverseTransformation * (-_translation);
swap(_transformation, _inverseTransformation);
return *this;
}
/////////////
// Methods //
/////////////
vec3d transformation3d::transformPoint(const vec3d& p) const
{
// first transform, then translate
vec3d transformed = _transformation * p;
transformed += _translation;
// Done.
return transformed;
}
vec3d transformation3d::transformDirection(const vec3d& d) const
{
// Only apply transformation
vec3d transformed = _transformation * d;
// Done.
return transformed.normalize();
}
vec3d transformation3d::transformNormal(const vec3d& n) const
{
// Don't apply translation.
// n' = (_transformation^T)^-1 * n
// n'^T = n^T * _transformation^-1
// n'^T = n^T * _inverseTransformation
vec3d transformed = n * _inverseTransformation;
// Done.
return transformed.normalize();
}
vec3d transformation3d::inverseTransformPoint(const vec3d& p) const
{
// for undo translation, then invert the transformation
vec3d transformed = p - _translation;
transformed = _inverseTransformation * transformed;
// Done.
return transformed;
}
vec3d transformation3d::inverseTransformDirection(const vec3d& d) const
{
// Only invert the transformation
vec3d transformed = _inverseTransformation * d;
// Done.
return transformed.normalize();
}
vec3d transformation3d::inverseTransformNormal(const vec3d& n) const
{
// Don't apply translation. Undo (transformation^T)^-1
vec3d transformed = n * _transformation;
// Done.
return transformed.normalize();
}
///////////////////////
// Protected Methods //
///////////////////////
void transformation3d::_swap(transformation3d& t)
{
std::swap(_translation, t._translation);
std::swap(_transformation, t._transformation);
std::swap(_inverseTransformation, t._inverseTransformation);
}
void transformation3d::_assign(const transformation3d& t)
{
// avoid copying when self-assigning
if(&t == this) return;
// Copy
_translation = t._translation;
_transformation = t._transformation;
_inverseTransformation = t._inverseTransformation;
// Done.
}
void transformation3d::_print(std::ostream& s) const
{
s << "{";
s << "Translation = " << _translation << ", ";
s << "Transformation = " << _transformation << ", ";
s << "Inverse Trans. = " << _inverseTransformation;
s << "}";
}
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