transformation.hpp

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/* Copyright (c) 2010-2011 Taneli Kalvas. All rights reserved.
 *
 * You can redistribute this software and/or modify it under the terms
 * of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option)
 * any later version.
 * 
 * This library is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this library (file "COPYING" included in the package);
 * if not, write to the Free Software Foundation, Inc., 51 Franklin
 * Street, Fifth Floor, Boston, MA 02110-1301 USA
 * 
 * If you have questions about your rights to use or distribute this
 * software, please contact Berkeley Lab's Technology Transfer
 * Department at TTD@lbl.gov. Other questions, comments and bug
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 * NOTICE. This software was developed under partial funding from the
 * U.S.  Department of Energy.  As such, the U.S. Government has been
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#ifndef TRANSFORMATION_HPP
#define TRANSFORMATION_HPP 1


#include <string.h>
#include "vec3d.hpp"
#include "vec4d.hpp"


class Transformation
{

    double x[16]; /* Matrix data in row first order:
                   *   0  1  2  3
                   *   4  5  6  7
                   *   8  9 10 11
                   *  12 13 14 15
                   */

public:

    Transformation();

    Transformation( double x11, double x12, double x13, double x14,
                    double x21, double x22, double x23, double x24,
                    double x31, double x32, double x33, double x34,
                    double x41, double x42, double x43, double x44 );

    Transformation( const Transformation &m );

    Transformation( std::istream &is );

    ~Transformation();





    double &operator[]( int i ) {
        return( x[i] );
    }

    const double &operator[]( int i ) const {
        return( x[i] );
    }
    
    double determinant( void ) const;

    Transformation inverse( void ) const;

    const Transformation &operator*=( double s );

    Transformation operator*( const Transformation &m ) const;

    Vec4D operator*( const Vec4D &v ) const;

    Vec4D operator%( const Vec4D &v ) const;





    Vec4D transform( const Vec4D &xin ) const;




    Vec3D transform_point( const Vec3D &xin ) const;

    Vec3D inv_transform_point( const Vec3D &xin ) const;




    Vec3D transform_vector( const Vec3D &xin ) const;

    Vec3D inv_transform_vector( const Vec3D &xin ) const;




    void reset( void );

    void translate( const Vec3D &d );

    void scale( const Vec3D &s );

    void rotate_x( double a );

    void rotate_y( double a );

    void rotate_z( double a );

    static Transformation unity( void );

    static Transformation translation( const Vec3D &d );

    static Transformation scaling( const Vec3D &s );
 
    static Transformation rotation_x( double a );

    static Transformation rotation_y( double a );

    static Transformation rotation_z( double a );

    friend std::ostream &operator<<( std::ostream &os, const Transformation &t );

    void save( const std::string &filename ) const;

    void save( std::ostream &os ) const;

    void debug_print( std::ostream &os ) const;
};




#endif