engine/src/core/com/jme3/math/Transform.java - platform/external/jmonkeyengine - Git at Google

 /*
  * Copyright (c) 2009-2010 jMonkeyEngine
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
  * met:
  *
  * * Redistributions of source code must retain the above copyright
  *   notice, this list of conditions and the following disclaimer.
  *
  * * Redistributions in binary form must reproduce the above copyright
  *   notice, this list of conditions and the following disclaimer in the
  *   documentation and/or other materials provided with the distribution.
  *
  * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
  *   may be used to endorse or promote products derived from this software
  *   without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
  * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */

 package com.jme3.math;

 import com.jme3.export.*;
 import java.io.IOException;

 /**
  * Started Date: Jul 16, 2004<br><br>
  * Represents a translation, rotation and scale in one object.
  *
  * @author Jack Lindamood
  * @author Joshua Slack
  */
 public final class Transform implements Savable, Cloneable, java.io.Serializable {

     static final long serialVersionUID = 1;

     public static final Transform IDENTITY = new Transform();

     private Quaternion rot = new Quaternion();
     private Vector3f translation = new Vector3f();
     private Vector3f scale = new Vector3f(1,1,1);

     public Transform(Vector3f translation, Quaternion rot){
         this.translation.set(translation);
         this.rot.set(rot);
     }

     public Transform(Vector3f translation, Quaternion rot, Vector3f scale){
         this(translation, rot);
         this.scale.set(scale);
     }

     public Transform(Vector3f translation){
         this(translation, Quaternion.IDENTITY);
     }

     public Transform(Quaternion rot){
         this(Vector3f.ZERO, rot);
     }

     public Transform(){
         this(Vector3f.ZERO, Quaternion.IDENTITY);
     }

     /**
      * Sets this rotation to the given Quaternion value.
      * @param rot The new rotation for this matrix.
      * @return this
      */
     public Transform setRotation(Quaternion rot) {
         this.rot.set(rot);
         return this;
     }

     /**
      * Sets this translation to the given value.
      * @param trans The new translation for this matrix.
      * @return this
      */
     public Transform setTranslation(Vector3f trans) {
         this.translation.set(trans);
         return this;
     }

     /**
      * Return the translation vector in this matrix.
      * @return translation vector.
      */
     public Vector3f getTranslation() {
         return translation;
     }

     /**
      * Sets this scale to the given value.
      * @param scale The new scale for this matrix.
      * @return this
      */
     public Transform setScale(Vector3f scale) {
         this.scale.set(scale);
         return this;
     }

     /**
      * Sets this scale to the given value.
      * @param scale The new scale for this matrix.
      * @return this
      */
     public Transform setScale(float scale) {
         this.scale.set(scale, scale, scale);
         return this;
     }

     /**
      * Return the scale vector in this matrix.
      * @return scale vector.
      */
     public Vector3f getScale() {
         return scale;
     }

     /**
      * Stores this translation value into the given vector3f.  If trans is null, a new vector3f is created to
      * hold the value.  The value, once stored, is returned.
      * @param trans The store location for this matrix's translation.
      * @return The value of this matrix's translation.
      */
     public Vector3f getTranslation(Vector3f trans) {
         if (trans==null) trans=new Vector3f();
         trans.set(this.translation);
         return trans;
     }

     /**
      * Stores this rotation value into the given Quaternion.  If quat is null, a new Quaternion is created to
      * hold the value.  The value, once stored, is returned.
      * @param quat The store location for this matrix's rotation.
      * @return The value of this matrix's rotation.
      */
     public Quaternion getRotation(Quaternion quat) {
         if (quat==null) quat=new Quaternion();
         quat.set(rot);
         return quat;
     }

     /**
      * Return the rotation quaternion in this matrix.
      * @return rotation quaternion.
      */
     public Quaternion getRotation() {
         return rot;
     }

     /**
      * Stores this scale value into the given vector3f.  If scale is null, a new vector3f is created to
      * hold the value.  The value, once stored, is returned.
      * @param scale The store location for this matrix's scale.
      * @return The value of this matrix's scale.
      */
     public Vector3f getScale(Vector3f scale) {
         if (scale==null) scale=new Vector3f();
         scale.set(this.scale);
         return scale;
     }

     /**
      * Sets this matrix to the interpolation between the first matrix and the second by delta amount.
      * @param t1 The begining transform.
      * @param t2 The ending transform.
      * @param delta An amount between 0 and 1 representing how far to interpolate from t1 to t2.
      */
     public void interpolateTransforms(Transform t1, Transform t2, float delta) {
         this.rot.slerp(t1.rot,t2.rot,delta);
         this.translation.interpolate(t1.translation,t2.translation,delta);
         this.scale.interpolate(t1.scale,t2.scale,delta);
     }

     /**
      * Changes the values of this matrix acording to it's parent.  Very similar to the concept of Node/Spatial transforms.
      * @param parent The parent matrix.
      * @return This matrix, after combining.
      */
     public Transform combineWithParent(Transform parent) {
         scale.multLocal(parent.scale);
 //        rot.multLocal(parent.rot);
         parent.rot.mult(rot, rot);

         // This here, is evil code
 //        parent
 //            .rot
 //            .multLocal(translation)
 //            .multLocal(parent.scale)
 //            .addLocal(parent.translation);

         translation.multLocal(parent.scale);
         parent
             .rot
             .multLocal(translation)
             .addLocal(parent.translation);
         return this;
     }

     /**
      * Sets this matrix's translation to the given x,y,z values.
      * @param x This matrix's new x translation.
      * @param y This matrix's new y translation.
      * @param z This matrix's new z translation.
      * @return this
      */
     public Transform setTranslation(float x,float y, float z) {
         translation.set(x,y,z);
         return this;
     }

     /**
      * Sets this matrix's scale to the given x,y,z values.
      * @param x This matrix's new x scale.
      * @param y This matrix's new y scale.
      * @param z This matrix's new z scale.
      * @return this
      */
     public Transform setScale(float x, float y, float z) {
         scale.set(x,y,z);
         return this;
     }

     public Vector3f transformVector(final Vector3f in, Vector3f store){
         if (store == null)
             store = new Vector3f();

         // multiply with scale first, then rotate, finally translate (cf.
         // Eberly)
         return rot.mult(store.set(in).multLocal(scale), store).addLocal(translation);
     }

     public Vector3f transformInverseVector(final Vector3f in, Vector3f store){
         if (store == null)
             store = new Vector3f();

         // The author of this code should look above and take the inverse of that
         // But for some reason, they didnt ..
 //        in.subtract(translation, store).divideLocal(scale);
 //        rot.inverse().mult(store, store);

         in.subtract(translation, store);
         rot.inverse().mult(store, store);
         store.divideLocal(scale);

         return store;
     }

     /**
      * Loads the identity.  Equal to translation=0,0,0 scale=1,1,1 rot=0,0,0,1.
      */
     public void loadIdentity() {
         translation.set(0,0,0);
         scale.set(1,1,1);
         rot.set(0,0,0,1);
     }

     @Override
     public String toString(){
         return getClass().getSimpleName() + "[ " + translation.x + ", " + translation.y + ", " + translation.z + "]\n"
                                           + "[ " + rot.x + ", " + rot.y + ", " + rot.z + ", " + rot.w + "]\n"
                                           + "[ " + scale.x + " , " + scale.y + ", " + scale.z + "]";
     }

     /**
      * Sets this matrix to be equal to the given matrix.
      * @param matrixQuat The matrix to be equal to.
      * @return this
      */
     public Transform set(Transform matrixQuat) {
         this.translation.set(matrixQuat.translation);
         this.rot.set(matrixQuat.rot);
         this.scale.set(matrixQuat.scale);
         return this;
     }

     public void write(JmeExporter e) throws IOException {
         OutputCapsule capsule = e.getCapsule(this);
         capsule.write(rot, "rot", new Quaternion());
         capsule.write(translation, "translation", Vector3f.ZERO);
         capsule.write(scale, "scale", Vector3f.UNIT_XYZ);
     }

     public void read(JmeImporter e) throws IOException {
         InputCapsule capsule = e.getCapsule(this);

         rot = (Quaternion)capsule.readSavable("rot", new Quaternion());
         translation = (Vector3f)capsule.readSavable("translation", Vector3f.ZERO);
         scale = (Vector3f)capsule.readSavable("scale", Vector3f.UNIT_XYZ);
     }

     @Override
     public Transform clone() {
         try {
             Transform tq = (Transform) super.clone();
             tq.rot = rot.clone();
             tq.scale = scale.clone();
             tq.translation = translation.clone();
             return tq;
         } catch (CloneNotSupportedException e) {
             throw new AssertionError();
         }
     }
 }
	/*
	* Copyright (c) 2009-2010 jMonkeyEngine
	* All rights reserved.
	*
	* Redistribution and use in source and binary forms, with or without
	* modification, are permitted provided that the following conditions are
	* met:
	*
	* * Redistributions of source code must retain the above copyright
	* notice, this list of conditions and the following disclaimer.
	*
	* * Redistributions in binary form must reproduce the above copyright
	* notice, this list of conditions and the following disclaimer in the
	* documentation and/or other materials provided with the distribution.
	*
	* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
	* may be used to endorse or promote products derived from this software
	* without specific prior written permission.
	*
	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
	* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
	* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
	* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
	* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
	* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
	* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
	* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
	* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
	* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
	* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
	*/

	package com.jme3.math;

	import com.jme3.export.*;
	import java.io.IOException;

	/**
	* Started Date: Jul 16, 2004<br><br>
	* Represents a translation, rotation and scale in one object.
	*
	* @author Jack Lindamood
	* @author Joshua Slack
	*/
	public final class Transform implements Savable, Cloneable, java.io.Serializable {

	static final long serialVersionUID = 1;

	public static final Transform IDENTITY = new Transform();

	private Quaternion rot = new Quaternion();
	private Vector3f translation = new Vector3f();
	private Vector3f scale = new Vector3f(1,1,1);

	public Transform(Vector3f translation, Quaternion rot){
	this.translation.set(translation);
	this.rot.set(rot);
	}

	public Transform(Vector3f translation, Quaternion rot, Vector3f scale){
	this(translation, rot);
	this.scale.set(scale);
	}

	public Transform(Vector3f translation){
	this(translation, Quaternion.IDENTITY);
	}

	public Transform(Quaternion rot){
	this(Vector3f.ZERO, rot);
	}

	public Transform(){
	this(Vector3f.ZERO, Quaternion.IDENTITY);
	}

	/**
	* Sets this rotation to the given Quaternion value.
	* @param rot The new rotation for this matrix.
	* @return this
	*/
	public Transform setRotation(Quaternion rot) {
	this.rot.set(rot);
	return this;
	}

	/**
	* Sets this translation to the given value.
	* @param trans The new translation for this matrix.
	* @return this
	*/
	public Transform setTranslation(Vector3f trans) {
	this.translation.set(trans);
	return this;
	}

	/**
	* Return the translation vector in this matrix.
	* @return translation vector.
	*/
	public Vector3f getTranslation() {
	return translation;
	}

	/**
	* Sets this scale to the given value.
	* @param scale The new scale for this matrix.
	* @return this
	*/
	public Transform setScale(Vector3f scale) {
	this.scale.set(scale);
	return this;
	}

	/**
	* Sets this scale to the given value.
	* @param scale The new scale for this matrix.
	* @return this
	*/
	public Transform setScale(float scale) {
	this.scale.set(scale, scale, scale);
	return this;
	}

	/**
	* Return the scale vector in this matrix.
	* @return scale vector.
	*/
	public Vector3f getScale() {
	return scale;
	}

	/**
	* Stores this translation value into the given vector3f. If trans is null, a new vector3f is created to
	* hold the value. The value, once stored, is returned.
	* @param trans The store location for this matrix's translation.
	* @return The value of this matrix's translation.
	*/
	public Vector3f getTranslation(Vector3f trans) {
	if (trans==null) trans=new Vector3f();
	trans.set(this.translation);
	return trans;
	}

	/**
	* Stores this rotation value into the given Quaternion. If quat is null, a new Quaternion is created to
	* hold the value. The value, once stored, is returned.
	* @param quat The store location for this matrix's rotation.
	* @return The value of this matrix's rotation.
	*/
	public Quaternion getRotation(Quaternion quat) {
	if (quat==null) quat=new Quaternion();
	quat.set(rot);
	return quat;
	}

	/**
	* Return the rotation quaternion in this matrix.
	* @return rotation quaternion.
	*/
	public Quaternion getRotation() {
	return rot;
	}

	/**
	* Stores this scale value into the given vector3f. If scale is null, a new vector3f is created to
	* hold the value. The value, once stored, is returned.
	* @param scale The store location for this matrix's scale.
	* @return The value of this matrix's scale.
	*/
	public Vector3f getScale(Vector3f scale) {
	if (scale==null) scale=new Vector3f();
	scale.set(this.scale);
	return scale;
	}

	/**
	* Sets this matrix to the interpolation between the first matrix and the second by delta amount.
	* @param t1 The begining transform.
	* @param t2 The ending transform.
	* @param delta An amount between 0 and 1 representing how far to interpolate from t1 to t2.
	*/
	public void interpolateTransforms(Transform t1, Transform t2, float delta) {
	this.rot.slerp(t1.rot,t2.rot,delta);
	this.translation.interpolate(t1.translation,t2.translation,delta);
	this.scale.interpolate(t1.scale,t2.scale,delta);
	}

	/**
	* Changes the values of this matrix acording to it's parent. Very similar to the concept of Node/Spatial transforms.
	* @param parent The parent matrix.
	* @return This matrix, after combining.
	*/
	public Transform combineWithParent(Transform parent) {
	scale.multLocal(parent.scale);
	// rot.multLocal(parent.rot);
	parent.rot.mult(rot, rot);

	// This here, is evil code
	// parent
	// .rot
	// .multLocal(translation)
	// .multLocal(parent.scale)
	// .addLocal(parent.translation);

	translation.multLocal(parent.scale);
	parent
	.rot
	.multLocal(translation)
	.addLocal(parent.translation);
	return this;
	}

	/**
	* Sets this matrix's translation to the given x,y,z values.
	* @param x This matrix's new x translation.
	* @param y This matrix's new y translation.
	* @param z This matrix's new z translation.
	* @return this
	*/
	public Transform setTranslation(float x,float y, float z) {
	translation.set(x,y,z);
	return this;
	}

	/**
	* Sets this matrix's scale to the given x,y,z values.
	* @param x This matrix's new x scale.
	* @param y This matrix's new y scale.
	* @param z This matrix's new z scale.
	* @return this
	*/
	public Transform setScale(float x, float y, float z) {
	scale.set(x,y,z);
	return this;
	}

	public Vector3f transformVector(final Vector3f in, Vector3f store){
	if (store == null)
	store = new Vector3f();

	// multiply with scale first, then rotate, finally translate (cf.
	// Eberly)
	return rot.mult(store.set(in).multLocal(scale), store).addLocal(translation);
	}

	public Vector3f transformInverseVector(final Vector3f in, Vector3f store){
	if (store == null)
	store = new Vector3f();

	// The author of this code should look above and take the inverse of that
	// But for some reason, they didnt ..
	// in.subtract(translation, store).divideLocal(scale);
	// rot.inverse().mult(store, store);

	in.subtract(translation, store);
	rot.inverse().mult(store, store);
	store.divideLocal(scale);

	return store;
	}

	/**
	* Loads the identity. Equal to translation=0,0,0 scale=1,1,1 rot=0,0,0,1.
	*/
	public void loadIdentity() {
	translation.set(0,0,0);
	scale.set(1,1,1);
	rot.set(0,0,0,1);
	}

	@Override
	public String toString(){
	return getClass().getSimpleName() + "[ " + translation.x + ", " + translation.y + ", " + translation.z + "]\n"
	+ "[ " + rot.x + ", " + rot.y + ", " + rot.z + ", " + rot.w + "]\n"
	+ "[ " + scale.x + " , " + scale.y + ", " + scale.z + "]";
	}

	/**
	* Sets this matrix to be equal to the given matrix.
	* @param matrixQuat The matrix to be equal to.
	* @return this
	*/
	public Transform set(Transform matrixQuat) {
	this.translation.set(matrixQuat.translation);
	this.rot.set(matrixQuat.rot);
	this.scale.set(matrixQuat.scale);
	return this;
	}

	public void write(JmeExporter e) throws IOException {
	OutputCapsule capsule = e.getCapsule(this);
	capsule.write(rot, "rot", new Quaternion());
	capsule.write(translation, "translation", Vector3f.ZERO);
	capsule.write(scale, "scale", Vector3f.UNIT_XYZ);
	}

	public void read(JmeImporter e) throws IOException {
	InputCapsule capsule = e.getCapsule(this);

	rot = (Quaternion)capsule.readSavable("rot", new Quaternion());
	translation = (Vector3f)capsule.readSavable("translation", Vector3f.ZERO);
	scale = (Vector3f)capsule.readSavable("scale", Vector3f.UNIT_XYZ);
	}

	@Override
	public Transform clone() {
	try {
	Transform tq = (Transform) super.clone();
	tq.rot = rot.clone();
	tq.scale = scale.clone();
	tq.translation = translation.clone();
	return tq;
	} catch (CloneNotSupportedException e) {
	throw new AssertionError();
	}
	}
	}