transformation_3d.h

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/** @file
 *  @author Bram de Greve (bram@cocamware.com)
 *  @author Tom De Muer (tom@cocamware.com)
 *
 *  *** 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.
 *  
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 *  Copyright (C) 2004-2023 the Initial Developer.
 *  All Rights Reserved.
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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 "../io/xml_o_stream.h"
#include "../num/num_traits.h"
#include "../util/allocator.h"
#include "../util/shared_ptr.h"
#include "../util/thread.h"
 
namespace lass
{
namespace prim
{
namespace impl
{
 
template <typename T, size_t N>
struct LASS_SIMD_ALIGN TransformationImpl
{
    enum { matrixSize = N };
    LASS_SIMD_ALIGN T forward[matrixSize];
    LASS_SIMD_ALIGN T inverse[matrixSize];
    util::Semaphore sync;
    std::atomic<size_t> referenceCount;
    std::atomic<bool> hasInverse;
    bool isTranslation;
    TransformationImpl(): referenceCount(0), hasInverse(false), isTranslation(false) {}
};
 
template <typename U, typename Cascade>
class TransformationImplStorage: public util::ObjectStorage<U, Cascade>
{
public:
    TransformationImplStorage(): util::ObjectStorage<U, Cascade>() {}
    TransformationImplStorage(U* p): util::ObjectStorage<U, Cascade>(p) {}
    static U* allocate() { return allocator().allocate(); }
protected:
    void dispose()
    {
        allocator().deallocate(this->pointer());
    }
private:
    typedef util::AllocatorObject< U , util::AllocatorConcurrentFreeList<> > TAllocator;
    static TAllocator& allocator()
    {
        // this is _not_ thread safe, but it should be OK as it's called once
        // before main, to init the identity matrix.
        static TAllocator alloc;
        return alloc;
    }
};
 
}
 
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);
    Transformation3D(std::initializer_list<TValue> list);
 
    const TSelf inverse() const;
 
    const TValue* matrix() const;
    const TValue* inverseMatrix() const;
 
    bool isIdentity() const;
    bool isTranslation() const;
 
    void swap(TSelf& other);
 
    static const TSelf identity();
    static const TSelf translation(const TVector& offset);
    static const TSelf scaler(TParam scale);
    static const TSelf scaler(const TVector& scale);
    static const TSelf rotation(XYZ axis, TParam radians);
    static const TSelf rotation(const TVector& axis, TParam radians);
    static const TSelf lookAt(const TPoint& eye, const TPoint& target, const TVector& sky);
 
private:
 
    enum { matrixSize_ = 16 };
 
    typedef T TMatrix[matrixSize_];
    typedef const T TConstMatrix[matrixSize_];
    typedef impl::TransformationImpl<T, matrixSize_> TImpl;
    typedef util::SharedPtr<TImpl, impl::TransformationImplStorage, util::IntrusiveCounter<TImpl, std::atomic<size_t>, &TImpl::referenceCount> > TImplPtr;
 
    Transformation3D(const TImplPtr& pimpl, bool isInversed = false);
    void computeInverse() const;
 
    static void translate(const TConstMatrix &source, TMatrix& dest);
    static void identity(TMatrix& dest);
    static TImplPtr makeIdentity();
 
    TImplPtr pimpl_;
    bool isInversed_;
    static TImplPtr identity_;
};
 
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);
 
}
 
}
 
#include "transformation_3d.inl"
 
#define LASS_PRIM_HAVE_PY_EXPORT_TRAITS_TRANSFORMATION_3D
#ifdef LASS_GUARDIAN_OF_INCLUSION_UTIL_PYOBJECT_PLUS_H
#   include "../python/export_traits_prim.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