Transformation.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_HELPER_GL_TRANSFORMATION_H
#define SOFA_HELPER_GL_TRANSFORMATION_H

#include <sofa/helper/system/config.h>

namespace sofa
{

namespace helper
{

namespace gl
{

class           Transformation
{
  public:

    SReal           translation[3];
    SReal           scale[3];
    SReal           rotation[4][4];

    SReal           objectCenter[3];

  private:

  public:

                    Transformation();   // constructor
                    ~Transformation();  // destructor



    Transformation& operator=(const Transformation& transform);

    void            Apply();
    void            ApplyWithCentring();
    void            ApplyInverse();

  template<class Vector>
  Vector operator*(Vector v) const
  {
    for(int c=0;c<3;c++)
      v[c] *= scale[c];
    Vector r;
    for(int c=0;c<3;c++)
      r[c] = rotation[0][c]*v[0]+rotation[1][c]*v[1]+rotation[2][c]*v[2];
    for(int c=0;c<3;c++)
      r[c] += translation[c];
    return r;
  }

  private:void      InvertTransRotMatrix(SReal matrix[4][4]);
  void          InvertTransRotMatrix(SReal sMatrix[4][4],
                         SReal dMatrix[4][4]);
};

} // namespace gl

} // namespace helper

} // namespace sofa

#endif // __TRANSFORMATION_H__