transformation_3d.h

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/** @file
 *  @author Bram de Greve (bramz@users.sourceforge.net)
 *  @author Tom De Muer (tomdemuer@users.sourceforge.net)
 *
 *  *** BEGIN LICENSE INFORMATION ***
 *  
 *  The contents of this file are subject to the Common Public Attribution License 
 *  Version 1.0 (the "License"); you may not use this file except in compliance with 
 *  the License. You may obtain a copy of the License at 
 *  http://lass.sourceforge.net/cpal-license. The License is based on the 
 *  Mozilla Public License Version 1.1 but Sections 14 and 15 have been added to cover 
 *  use of software over a computer network and provide for limited attribution for 
 *  the Original Developer. In addition, Exhibit A has been modified to be consistent 
 *  with Exhibit B.
 *  
 *  Software distributed under the License is distributed on an "AS IS" basis, WITHOUT 
 *  WARRANTY OF ANY KIND, either express or implied. See the License for the specific 
 *  language governing rights and limitations under the License.
 *  
 *  The Original Code is LASS - Library of Assembled Shared Sources.
 *  
 *  The Initial Developer of the Original Code is Bram de Greve and Tom De Muer.
 *  The Original Developer is the Initial Developer.
 *  
 *  All portions of the code written by the Initial Developer are:
 *  Copyright (C) 2004-2007 the Initial Developer.
 *  All Rights Reserved.
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 *
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 *  GNU General Public License Version 2 or later (the GPL), in which case the 
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 *  *** END LICENSE INFORMATION ***
 */



/** @class lass::prim::Transformation3D
 *  @brief a linear 3D transformation
 *  @author Bram de Greve [BdG]
 */

#ifndef LASS_GUARDIAN_OF_INCLUSION_PRIM_TRANSFORMATION_3D_H
#define LASS_GUARDIAN_OF_INCLUSION_PRIM_TRANSFORMATION_3D_H

#include "prim_common.h"
#include "point_3d.h"
#include "xyz.h"
#include "impl/prim_allocator.h"
#include "../io/xml_o_stream.h"
#include "../num/num_traits.h"
#include "../util/shared_ptr.h"
#include "../util/thread.h"

namespace lass
{
namespace prim
{
namespace impl
{
    template <typename T, typename Cascade>
    class Transformation3DStorage: public util::ArrayStorage<T, Cascade>
    {
    public:
        Transformation3DStorage(): util::ArrayStorage<T, Cascade>() {}
        Transformation3DStorage(T* p): util::ArrayStorage<T, Cascade>(p) {}
    protected:
        void dispose()
        {
            deallocateArray(this->pointer(), 16);
        }
    };
}

template <typename T>
class Transformation3D
{
public:

    typedef Transformation3D<T> TSelf;

    typedef Point3D<T> TPoint;
    typedef typename TPoint::TVector TVector;
    typedef typename util::CallTraits<T>::TValue TValue;
    typedef typename util::CallTraits<T>::TParam TParam;
    typedef typename util::CallTraits<T>::TReference TReference;
    typedef typename util::CallTraits<T>::TConstReference TConstReference;
    typedef num::NumTraits<T> TNumTraits;
    typedef size_t TSize;

    enum { dimension = TPoint::dimension }; /**< number of dimensions of vector */

    template <typename U> struct Rebind
    {
        typedef Transformation3D<U> Type;
    };

    Transformation3D();
    Transformation3D(const TPoint& origin, const TVector& baseX, const TVector& baseY, 
        const TVector& baseZ);
    template <typename InputIterator> Transformation3D(InputIterator first, InputIterator last);

    const TSelf inverse() const;

    const TValue* matrix() const;
    void swap(TSelf& other);

    static const TSelf identity();
    static const TSelf translation(const Vector3D<T>& offset);
    static const TSelf scaler(const T& scale);
    static const TSelf scaler(const Vector3D<T>& scale);
    static const TSelf rotation(XYZ axis, TParam radians);
    static const TSelf rotation(const Vector3D<T>& axis, TParam radians);

private:

    enum { matrixSize_ = 16 };

    typedef util::SharedPtr<TValue, impl::Transformation3DStorage> TMatrix;

    Transformation3D(const TMatrix& matrix, const TMatrix& inverseMatrix, bool dummy);

    TMatrix matrix_;
    mutable TMatrix inverseMatrix_;

    static T* allocate();

    static util::Semaphore sync_;
};

template <typename T> Transformation3D<T> concatenate(const Transformation3D<T>& first, const Transformation3D<T>& second);

template <typename T> Vector3D<T> transform(const Vector3D<T>& subject, const Transformation3D<T>& transformation);
template <typename T> Point3D<T> transform(const Point3D<T>& subject, const Transformation3D<T>& transformation);
template <typename T> Vector3D<T> normalTransform(const Vector3D<T>& subject, const Transformation3D<T>& transformation);
template <typename T> std::pair<Vector3D<T>, T> normalTransform(const std::pair<Vector3D<T>, T>& subject, const Transformation3D<T>& transformation);

template<typename T, typename Char, typename Traits>
std::basic_ostream<Char, Traits>& operator<<(std::basic_ostream<Char, Traits>& stream, const Transformation3D<T>& transformation);

template<typename T> io::XmlOStream& operator<<(io::XmlOStream& stream, const Transformation3D<T>& transformation);

// static member initialisation

template <typename T> util::Semaphore Transformation3D<T>::sync_;

}

}

#include "transformation_3d.inl"

#define LASS_PRIM_HAVE_PY_EXPORT_TRAITS_TRANSFORMATION_3D
#ifdef LASS_GUARDIAN_OF_INCLUSION_UTIL_PYOBJECT_PLUS_H
#   include "pyobject_util.h"
#endif

#ifdef LASS_GUARDIAN_OF_INCLUSION_PRIM_AABB_3D_H
#   include "aabb_3d_transformation_3d.h"
#endif

#ifdef LASS_GUARDIAN_OF_INCLUSION_PRIM_PLANE_3D_H
#   include "plane_3d_transformation_3d.h"
#endif

#ifdef LASS_GUARDIAN_OF_INCLUSION_PRIM_RAY_3D_H
#   include "ray_3d_transformation_3d.h"
#endif

#ifdef LASS_GUARDIAN_OF_INCLUSION_PRIM_COLOR_RGBA_H
#   include "color_rgba_transformation_3d.h"
#endif

#endif

// EOF