wfmath 1.0.3
A math library for the Worldforge system.
rotbox.cpp
1// rotbox.cpp (RotBox<> implementation)
2//
3// The WorldForge Project
4// Copyright (C) 2011 The WorldForge Project
5//
6// This program is free software; you can redistribute it and/or modify
7// it under the terms of the GNU General Public License as published by
8// the Free Software Foundation; either version 2 of the License, or
9// (at your option) any later version.
10//
11// This program is distributed in the hope that it will be useful,
12// but WITHOUT ANY WARRANTY; without even the implied warranty of
13// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14// GNU General Public License for more details.
15//
16// You should have received a copy of the GNU General Public License
17// along with this program; if not, write to the Free Software
18// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
19//
20// For information about WorldForge and its authors, please contact
21// the Worldforge Web Site at http://www.worldforge.org.
22
23// Author: Alistair Riddoch
24// Created: 2011-1-27
25
26// Extensive amounts of this material come from the Vector2D
27// and Vector3D classes from stage/math, written by Bryce W.
28// Harrington, Kosh, and Jari Sundell (Rakshasa).
29
30#include "rotbox_funcs.h"
31
32#include "quaternion.h"
33
34#include <cmath>
35
36namespace WFMath {
37
38template<> RotBox<3>& RotBox<3>::rotatePoint(const Quaternion& q, const Point<3>& p)
39{
40 m_orient = m_orient.rotate(q); m_corner0.rotate(q, p); return *this;
41}
42
43template<> RotBox<3>& RotBox<3>::rotateCorner(const Quaternion& q, size_t corner)
44{
45 rotatePoint(q, getCorner(corner)); return *this;
46}
47
48template<> RotBox<3>& RotBox<3>::rotateCenter(const Quaternion& q)
49{
50 rotatePoint(q, getCenter()); return *this;
51}
52
53template<> RotBox<3> RotBox<3>::toParentCoords(const Point<3>& origin,
54 const Quaternion& rotation) const
55{
56 RotMatrix<3> orient = m_orient;
57 return RotBox<3>(m_corner0.toParentCoords(origin, rotation), m_size, orient.rotate(rotation));
58}
59
60template<> RotBox<3> RotBox<3>::toLocalCoords(const Point<3>& origin,
61 const Quaternion& rotation) const
62{
63 RotMatrix<3> orient = m_orient;
64 return RotBox<3>(m_corner0.toLocalCoords(origin, rotation), m_size, orient.rotate(rotation.inverse()));
65}
66
67template class RotBox<2>;
68template class RotBox<3>;
69
70static_assert(std::is_standard_layout<RotBox<2>>::value, "RotBox should be standard layout.");
71static_assert(std::is_trivially_copyable<RotBox<2>>::value, "RotBox should be trivially copyable.");
72
73static_assert(std::is_standard_layout<RotBox<3>>::value, "RotBox should be standard layout.");
74static_assert(std::is_trivially_copyable<RotBox<3>>::value, "RotBox should be trivially copyable.");
75
76
77
78template Point<2> Point<2>::toLocalCoords(RotBox<2> const&) const;
79template Point<3> Point<3>::toLocalCoords(RotBox<3> const&) const;
80template Point<2> Point<2>::toParentCoords(RotBox<2> const&) const;
81template Point<3> Point<3>::toParentCoords(RotBox<3> const&) const;
82
83}
Generic library namespace.
Definition: shape.h:41