RigidTransform3d.h

// RigidTransform3d.h:
// -------------------
//

#ifndef __IPSDKGEOMETRY_RIGIDTRANSFORM3D_H__
#define __IPSDKGEOMETRY_RIGIDTRANSFORM3D_H__

#include <IPSDKGeometry/Transform/3d/BaseGeometryTransform3d.h>
#include <IPSDKMath/Geometry/3d/Transform/Rigid3d.h>

namespace ipsdk {
namespace geom {


class IPSDKGEOMETRY_API RigidTransform3d : public BaseGeometryTransform3d
{
    // declare geometry transform 3d
    IPSDK_DECLARE_GEOMETRY_TRANSFORM_3D(IPSDKGeometry, RigidTransform3d)

// predefined public types
public:
    static const eTransform3dType::domain g_transform3dType = eTransform3dType::eT3DT_RigidTransform;

public:
    RigidTransform3d();
    RigidTransform3d(const ipReal64 chi,
                     const ipReal64 beta,
                     const ipReal64 alpha,
                     const ipReal64 xOffset,
                     const ipReal64 yOffset,
                     const ipReal64 zOffset);
    RigidTransform3d(const math::transform::Rigid3d& transform);
    ~RigidTransform3d();

// methods
public:
    eTransform3dType    getTransform3dType() const;

    void                init(const ipReal64 chi,
                             const ipReal64 beta,
                             const ipReal64 alpha,
                             const ipReal64 xOffset,
                             const ipReal64 yOffset,
                             const ipReal64 zOffset);
    void                init(const math::transform::Rigid3d& transform);

protected:
    template <typename T>
    void                processPoint(Point3dData<T>& entity) const;
    template <typename T>
    bool                processInSitu(Point3d<T>& entity) const;
    bool                processInSitu(Vector3d& entity) const;
    template <typename T>
    bool                processInSitu(PointCloud3d<T>& entity) const;
    template <typename T>
    bool                processInSitu(Sphere3d<T>& entity) const;
    template <typename T>
    bool                processInSitu(Ellipsoid3d<T>& entity) const;
    template <typename T>
    bool                processInSitu(Cube3d<T>& entity) const;
    template <typename T>
    bool                processInSitu(Cuboid3d<T>& entity) const;
    template <typename T>
    bool                processInSitu(Mesh3d<T>& entity) const;
    template <typename T>
    bool                processInSitu(MeshWithHoles3d<T>& entity) const;
    bool                processInSitu(Shape3d& entity) const;
    template <typename T>
    bool                processInSitu(Segment3d<T>& entity) const;
    template <typename T>
    bool                processInSitu(Triangle3d<T>& entity) const;

// attributes
protected:
    math::transform::Rigid3d    _transform;
};


inline eTransform3dType
RigidTransform3d::getTransform3dType() const
{
    return g_transform3dType;
}

inline void
RigidTransform3d::init(const ipReal64 chi,
                       const ipReal64 beta,
                       const ipReal64 alpha,
                       const ipReal64 xOffset,
                       const ipReal64 yOffset,
                       const ipReal64 zOffset)
{
    _transform.setParams(chi, beta, alpha, xOffset, yOffset, zOffset);
}

inline void
RigidTransform3d::init(const math::transform::Rigid3d& transform)
{
    _transform = transform;
}


} // end of namespace geom
} // end of namespace ipsdk

#endif // __IPSDKGEOMETRY_RIGIDTRANSFORM3D_H__