transform3.h

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// Copyright (c) 2018 Doyub Kim
//
// I am making my contributions/submissions to this project solely in my
// personal capacity and am not conveying any rights to any intellectual
// property of any third parties.
 
#ifndef INCLUDE_JET_TRANSFORM3_H_
#define INCLUDE_JET_TRANSFORM3_H_
 
#include <jet/bounding_box3.h>
#include <jet/quaternion.h>
#include <jet/ray3.h>
#include <jet/vector3.h>
 
namespace jet {
 
class Transform3 {
 public:
    Transform3();
 
    Transform3(const Vector3D& translation, const QuaternionD& orientation);
 
    const Vector3D& translation() const;
 
    void setTranslation(const Vector3D& translation);
 
    const QuaternionD& orientation() const;
 
    void setOrientation(const QuaternionD& orientation);
 
    Vector3D toLocal(const Vector3D& pointInWorld) const;
 
    Vector3D toLocalDirection(const Vector3D& dirInWorld) const;
 
    Ray3D toLocal(const Ray3D& rayInWorld) const;
 
    BoundingBox3D toLocal(const BoundingBox3D& bboxInWorld) const;
 
    Vector3D toWorld(const Vector3D& pointInLocal) const;
 
    Vector3D toWorldDirection(const Vector3D& dirInLocal) const;
 
    Ray3D toWorld(const Ray3D& rayInLocal) const;
 
    BoundingBox3D toWorld(const BoundingBox3D& bboxInLocal) const;
 
 private:
    Vector3D _translation;
    QuaternionD _orientation;
    Matrix3x3D _orientationMat3;
    Matrix3x3D _inverseOrientationMat3;
};
 
}  // namespace jet
 
#include "detail/transform3-inl.h"
 
#endif  // INCLUDE_JET_TRANSFORM3_H_