llcoordframe.h
上传用户:king477883
上传日期:2021-03-01
资源大小:9553k
文件大小:8k
- /**
- * @file llcoordframe.h
- * @brief LLCoordFrame class header file.
- *
- * $LicenseInfo:firstyear=2000&license=viewergpl$
- *
- * Copyright (c) 2000-2010, Linden Research, Inc.
- *
- * Second Life Viewer Source Code
- * The source code in this file ("Source Code") is provided by Linden Lab
- * to you under the terms of the GNU General Public License, version 2.0
- * ("GPL"), unless you have obtained a separate licensing agreement
- * ("Other License"), formally executed by you and Linden Lab. Terms of
- * the GPL can be found in doc/GPL-license.txt in this distribution, or
- * online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
- *
- * There are special exceptions to the terms and conditions of the GPL as
- * it is applied to this Source Code. View the full text of the exception
- * in the file doc/FLOSS-exception.txt in this software distribution, or
- * online at
- * http://secondlifegrid.net/programs/open_source/licensing/flossexception
- *
- * By copying, modifying or distributing this software, you acknowledge
- * that you have read and understood your obligations described above,
- * and agree to abide by those obligations.
- *
- * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
- * WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
- * COMPLETENESS OR PERFORMANCE.
- * $/LicenseInfo$
- */
- #ifndef LL_COORDFRAME_H
- #define LL_COORDFRAME_H
- #include "v3math.h"
- #include "v4math.h"
- #include "llerror.h"
- // XXX : The constructors of the LLCoordFrame class assume that all vectors
- // and quaternion being passed as arguments are normalized, and all matrix
- // arguments are unitary. VERY BAD things will happen if these assumptions fail.
- // Also, segfault hazzards exist in methods that accept F32* arguments.
- class LLCoordFrame
- {
- public:
- LLCoordFrame(); // Inits at zero with identity rotation
- explicit LLCoordFrame(const LLVector3 &origin); // Sets origin, and inits rotation = Identity
- LLCoordFrame(const LLVector3 &x_axis,
- const LLVector3 &y_axis,
- const LLVector3 &z_axis); // Sets coordinate axes and inits origin at zero
- LLCoordFrame(const LLVector3 &origin,
- const LLVector3 &x_axis,
- const LLVector3 &y_axis,
- const LLVector3 &z_axis); // Sets the origin and coordinate axes
- LLCoordFrame(const LLVector3 &origin,
- const LLMatrix3 &rotation); // Sets axes to 3x3 matrix
- LLCoordFrame(const LLVector3 &origin,
- const LLVector3 &direction); // Sets origin and calls lookDir(direction)
- explicit LLCoordFrame(const LLQuaternion &q); // Sets axes using q and inits mOrigin to zero
- LLCoordFrame(const LLVector3 &origin,
- const LLQuaternion &q); // Uses quaternion to init axes
- explicit LLCoordFrame(const LLMatrix4 &mat); // Extracts frame from a 4x4 matrix
- // The folowing two constructors are dangerous due to implicit casting and have been disabled - SJB
- //LLCoordFrame(const F32 *origin, const F32 *rotation); // Assumes "origin" is 1x3 and "rotation" is 1x9 array
- //LLCoordFrame(const F32 *origin_and_rotation); // Assumes "origin_and_rotation" is 1x12 array
- BOOL isFinite() { return mOrigin.isFinite() && mXAxis.isFinite() && mYAxis.isFinite() && mZAxis.isFinite(); }
- void reset();
- void resetAxes();
- void setOrigin(F32 x, F32 y, F32 z); // Set mOrigin
- void setOrigin(const LLVector3 &origin);
- void setOrigin(const F32 *origin);
- void setOrigin(const LLCoordFrame &frame);
- inline void setOriginX(F32 x) { mOrigin.mV[VX] = x; }
- inline void setOriginY(F32 y) { mOrigin.mV[VY] = y; }
- inline void setOriginZ(F32 z) { mOrigin.mV[VZ] = z; }
- void setAxes(const LLVector3 &x_axis, // Set axes
- const LLVector3 &y_axis,
- const LLVector3 &z_axis);
- void setAxes(const LLMatrix3 &rotation_matrix);
- void setAxes(const LLQuaternion &q);
- void setAxes(const F32 *rotation_matrix);
- void setAxes(const LLCoordFrame &frame);
- void translate(F32 x, F32 y, F32 z); // Move mOrgin
- void translate(const LLVector3 &v);
- void translate(const F32 *origin);
- void rotate(F32 angle, F32 x, F32 y, F32 z); // Move axes
- void rotate(F32 angle, const LLVector3 &rotation_axis);
- void rotate(const LLQuaternion &q);
- void rotate(const LLMatrix3 &m);
- void orthonormalize(); // Makes sure axes are unitary and orthogonal.
- // These methods allow rotations in the LLCoordFrame's frame
- void roll(F32 angle); // RH rotation about mXAxis, radians
- void pitch(F32 angle); // RH rotation about mYAxis, radians
- void yaw(F32 angle); // RH rotation about mZAxis, radians
- inline const LLVector3 &getOrigin() const { return mOrigin; }
- inline const LLVector3 &getXAxis() const { return mXAxis; }
- inline const LLVector3 &getYAxis() const { return mYAxis; }
- inline const LLVector3 &getZAxis() const { return mZAxis; }
- inline const LLVector3 &getAtAxis() const { return mXAxis; }
- inline const LLVector3 &getLeftAxis() const { return mYAxis; }
- inline const LLVector3 &getUpAxis() const { return mZAxis; }
-
- // These return representations of the rotation or orientation of the LLFrame
- // it its absolute frame. That is, these rotations acting on the X-axis {1,0,0}
- // will produce the mXAxis.
- // LLMatrix3 getMatrix3() const; // Returns axes in 3x3 matrix
- LLQuaternion getQuaternion() const; // Returns axes in quaternion form
- // Same as above, except it also includes the translation of the LLFrame
- // LLMatrix4 getMatrix4() const; // Returns position and axes in 4x4 matrix
- // Returns matrix which expresses point in local frame in the parent frame
- void getMatrixToParent(LLMatrix4 &mat) const;
- // Returns matrix which expresses point in parent frame in the local frame
- void getMatrixToLocal(LLMatrix4 &mat) const; // Returns matrix which expresses point in parent frame in the local frame
- void getRotMatrixToParent(LLMatrix4 &mat) const;
- // Copies mOrigin, then the three axes to buffer, returns number of bytes copied.
- size_t writeOrientation(char *buffer) const;
-
- // Copies mOrigin, then the three axes from buffer, returns the number of bytes copied.
- // Assumes the data in buffer is correct.
- size_t readOrientation(const char *buffer);
- LLVector3 rotateToLocal(const LLVector3 &v) const; // Returns v' rotated to local
- LLVector4 rotateToLocal(const LLVector4 &v) const; // Returns v' rotated to local
- LLVector3 rotateToAbsolute(const LLVector3 &v) const; // Returns v' rotated to absolute
- LLVector4 rotateToAbsolute(const LLVector4 &v) const; // Returns v' rotated to absolute
- LLVector3 transformToLocal(const LLVector3 &v) const; // Returns v' in local coord
- LLVector4 transformToLocal(const LLVector4 &v) const; // Returns v' in local coord
- LLVector3 transformToAbsolute(const LLVector3 &v) const; // Returns v' in absolute coord
- LLVector4 transformToAbsolute(const LLVector4 &v) const; // Returns v' in absolute coord
- // Write coord frame orientation into provided array in OpenGL matrix format.
- void getOpenGLTranslation(F32 *ogl_matrix) const;
- void getOpenGLRotation(F32 *ogl_matrix) const;
- void getOpenGLTransform(F32 *ogl_matrix) const;
- // lookDir orients to (xuv, presumed normalized) and does not affect origin
- void lookDir(const LLVector3 &xuv, const LLVector3 &up);
- void lookDir(const LLVector3 &xuv); // up = 0,0,1
- // lookAt orients to (point_of_interest - origin) and sets origin
- void lookAt(const LLVector3 &origin, const LLVector3 &point_of_interest, const LLVector3 &up);
- void lookAt(const LLVector3 &origin, const LLVector3 &point_of_interest); // up = 0,0,1
- // deprecated
- void setOriginAndLookAt(const LLVector3 &origin, const LLVector3 &up, const LLVector3 &point_of_interest)
- {
- lookAt(origin, point_of_interest, up);
- }
-
- friend std::ostream& operator<<(std::ostream &s, const LLCoordFrame &C);
- // These vectors are in absolute frame
- LLVector3 mOrigin;
- LLVector3 mXAxis;
- LLVector3 mYAxis;
- LLVector3 mZAxis;
- };
- #endif