Affine3DTransform.hpp

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/* ImLib3D
 * Copyright (c) 2001, ULP-IPB Strasbourg.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or (at
 * your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 */
#ifndef _Affine3DTransform_hpp
#define _Affine3DTransform_hpp
 
#include<ImLib3D/CppTools.hpp>
#include<ImLib3D/Vect3D.hpp>
#include<ImLib3D/ImLib3DFile.hpp>
#include<ImLib3D/Matrix.hpp>



class Affine3DTransform : public Streamable
{
    friend void Affine3DTransform_Test();
    friend Affine3DTransform operator*(const Affine3DTransform& a1,const Affine3DTransform& a2);
private:
    Matrix matrix;
    Vect3Df translation;
public:
    Matrix GetMatrix() const {return matrix;}
    Vect3Df Translation() const {return translation;}
    double operator()(int i,int j) const {return matrix(i,j);}
    double operator()(int i) const {return translation(i);}
    void Set(const Matrix &_matrix,const Vect3Df &_translation){matrix=_matrix;translation=_translation;}

    Vect3Df operator()(const Vect3Df &x) const
    {
        return matrix*x+translation;
    }
    void Inverse();

    virtual ~Affine3DTransform(){;}
    Affine3DTransform()
    {
        Reset();
    }

    Affine3DTransform(const Vect3Df &_translation)
    {
        Reset();
        SetTranslation(_translation);
    }
    Affine3DTransform(float theta,const Vect3Df &direction,
                      const Vect3Df &center=Vect3Df(0,0,0))
    {
        Reset();
        SetRotation(theta,direction,center);
    }
    Affine3DTransform(const string &fname);
    virtual void Read( ImLib3DFile *file,xmlpp::Element *parentNode=NULL,xmlpp::Element *node=NULL)      ;
    virtual void Write(ImLib3DFile *file,xmlpp::Element *parentNode=NULL,xmlpp::Element *node=NULL) const;
    void Show()
    {
        cout << "matrix:" << endl;
        cout << matrix << endl;
        cout << "translation:" << endl;
        cout << translation << endl;
    }
    void Analyse();
    void Reset()
    {
        matrix.SetToIdentity();
        translation=Vect3Df(0,0,0);
    }

    void SetRotationX(float theta,const Vect3Df &center=Vect3Df(0,0,0));
    void SetRotationY(float theta,const Vect3Df &center=Vect3Df(0,0,0));
    void SetRotationZ(float theta,const Vect3Df &center=Vect3Df(0,0,0));
    void SetRotation (float theta,Vect3Df direction,
                      const Vect3Df &center=Vect3Df(0,0,0));
    void SetTranslation(const Vect3Df &_translation){translation=_translation;}
    void SetScale(float sx,float sy,float sz)
    {
        Reset();
        matrix(0,0)=sx;
        matrix(1,1)=sy;
        matrix(2,2)=sz;
    }
    void SetScale(const Vect3Df &scale){SetScale(scale.x, scale.y, scale.z);}

    Affine3DTransform operator*=(const Affine3DTransform& other);
    
};
extern Affine3DTransform operator*(const Affine3DTransform& a1,const Affine3DTransform& a2);



#endif //_Affine3DTransform_hpp

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