Frame.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 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 Lesser General Public License *
* for more details.                                                           *
*                                                                             *
* You should have received a copy of the GNU Lesser General Public License    *
* along with this library; if not, write to the Free Software Foundation,     *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                              SOFA :: Framework                              *
*                                                                             *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_DEFAULTTYPE_FRAME_H
#define SOFA_DEFAULTTYPE_FRAME_H

#include <sofa/defaulttype/Vec.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/helper/Quater.h>

namespace sofa
{

namespace defaulttype
{

class Frame
{
public: 
        typedef Vec<3,SReal> Vec3;
        typedef helper::Quater<SReal> Quat;
        typedef Mat<3,3,SReal> Mat33;
private:
        Vec3 origin_;
        Mat33 basis_;
public:
        Frame (const Vec3 &origin, const Mat33& m );

        Frame (const Vec3 &origin, const Quat &orientation, const Vec3& scale=Vec3(1,1,1) );

        Frame (const Vec3 &origin );

        Frame ();

        void setTransform( const Vec3& origin, const Quat& orientation, const Vec3& scale );

        void clear();

        Vec3& getOrigin ();

        const Vec3& getOrigin () const;

        void setOrigin( const Vec3& origin );

        Mat33& getBasis ();

        const Mat33& getBasis () const;

        void setBasis( const Mat33& m );

        static Frame identity(); 

        void multRight( const Frame& c );

        Frame mult( const Frame& c ) const;

        void writeOpenGlMatrix( float* m ) const;

        void writeOpenGlMatrix( double* m ) const;

        template<class V>
        V projectVector( const V& v ) const
        {
                return V(
                               basis_[0][0]*v[0]+basis_[0][1]*v[1]+basis_[0][2]*v[2],
                               basis_[1][0]*v[0]+basis_[1][1]*v[1]+basis_[1][2]*v[2],
                               basis_[2][0]*v[0]+basis_[2][1]*v[1]+basis_[2][2]*v[2]
                       );
        }

        template<class V>
        V projectPoint( const V& v ) const
        {
                return projectVector(v)+origin_;
        }

        Frame inversed() const;

        friend std::ostream& operator << (std::ostream& out, const Frame& c );
};
} // namespace defaulttype

} // namespace sofa
#endif