Affine3d.h

// Affine3d.h:
// -----------
//

#ifndef __IPSDKMATH_AFFINE3D_H__
#define __IPSDKMATH_AFFINE3D_H__

// suppression warnings
// warning C4251: 'ipsdk::math::transform::Affine3d::g_registrator' : struct 'ipsdk::math::transform::Registrator<ipsdk::math::transform::Affine3d>' needs to have dll-interface to be used by clients of class 'ipsdk::math::transform::Affine3d'
#pragma warning (push)
#pragma warning (disable : 4251)

#include <IPSDKMath/Geometry/3d/Transform/BaseLinearGeometricTransform3d.h>

namespace ipsdk {
namespace math {
namespace transform {


class IPSDKMATH_API Affine3d : public BaseLinearGeometricTransform3d
{
// predefined public type
public:
    IPSDK_ENUM(eTransformParams,

        (eTP_Axx)       
        (eTP_Axy)       
        (eTP_Axz)       
        (eTP_Ayx)       
        (eTP_Ayy)       
        (eTP_Ayz)       
        (eTP_Azx)       
        (eTP_Azy)       
        (eTP_Azz)       
        (eTP_Tx)        
        (eTP_Ty)        
        (eTP_Tz)        
    );

    // declare geometric transformation 3d
    IPSDK_DECLARE_TRANSFORM3D(Affine3d);

public:
    Affine3d() :
        _axx(1), _axy(0), _axz(0), _ayx(0), _ayy(1), _ayz(0), _azx(0), _azy(0), _azz(1), _tx(0), _ty(0), _tz(0)
    {
    }
    Affine3d(const ipReal64 axx, const ipReal64 axy, const ipReal64 axz,
             const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz,
             const ipReal64 azx, const ipReal64 azy, const ipReal64 azz,
             const ipReal64 tx, const ipReal64 ty, const ipReal64 tz) :
        _axx(axx), _axy(axy), _axz(axz), _ayx(ayx), _ayy(ayy), _ayz(ayz), _azx(azx), _azy(azy), _azz(azz), _tx(tx), _ty(ty), _tz(tz)
    {
    }
    ~Affine3d() {}

// methods
public:
    static void             transform(const ipReal64 axx, const ipReal64 axy, const ipReal64 axz,
                                      const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz,
                                      const ipReal64 azx, const ipReal64 azy, const ipReal64 azz,
                                      const ipReal64 tx, const ipReal64 ty, const ipReal64 tz,
                                      ipReal64& x, ipReal64& y, ipReal64& z)
    {
        const ipReal64 xTmp = axx*x + axy*y + axz*z + tx;
        const ipReal64 yTmp = ayx*x + ayy*y + ayz*z + ty;
        const ipReal64 zTmp = azx*x + azy*y + azz*z + tz;
        x = xTmp;
        y = yTmp;
        z = zTmp;
    }

    static Matrix4d         getHomogenousMatrix(const ipReal64 axx, const ipReal64 axy, const ipReal64 axz,
                                                const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz,
                                                const ipReal64 azx, const ipReal64 azy, const ipReal64 azz,
                                                const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
    {
        Matrix4d transform;
        transform(0, 0) = axx; transform(0, 1) = axy; transform(0, 2) = axz; transform(0, 3) = tx;
        transform(1, 0) = ayx; transform(1, 1) = ayy; transform(1, 2) = ayz; transform(1, 3) = ty;
        transform(2, 0) = azx; transform(2, 1) = azy; transform(2, 2) = azz; transform(2, 3) = tz;
        transform(3, 0) = 0;   transform(3, 1) = 0;   transform(3, 2) = 0;   transform(3, 3) = 1;

        return transform;
    }

    static Matrix4d         getInvHomogenousMatrix(const ipReal64 axx, const ipReal64 axy, const ipReal64 axz,
                                                   const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz,
                                                   const ipReal64 azx, const ipReal64 azy, const ipReal64 azz,
                                                   const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
    {
        // invert input parameters
        ipReal64 invAxx = axx;
        ipReal64 invAxy = axy;
        ipReal64 invAxz = axz;
        ipReal64 invAyx = ayx;
        ipReal64 invAyy = ayy;
        ipReal64 invAyz = ayz;
        ipReal64 invAzx = azx;
        ipReal64 invAzy = azy;
        ipReal64 invAzz = azz;
        ipReal64 invTx = tx;
        ipReal64 invTy = ty;
        ipReal64 invTz = tz;
        getInvParams(invAxx, invAxy, invAxz,
                     invAyx, invAyy, invAyz,
                     invAzx, invAzy, invAzz,
                     invTx, invTy, invTz);

        return getHomogenousMatrix(invAxx, invAxy, invAxz,
                                   invAyx, invAyy, invAyz,
                                   invAzx, invAzy, invAzz,
                                   invTx, invTy, invTz);
    }

    static void             getInvParams(ipReal64& axx, ipReal64& axy, ipReal64& axz,
                                         ipReal64& ayx, ipReal64& ayy, ipReal64& ayz,
                                         ipReal64& azx, ipReal64& azy, ipReal64& azz,
                                         ipReal64& tx, ipReal64& ty, ipReal64& tz);

    static Vector           getIdentityParams();

    void                    setParams(const ipReal64 axx, const ipReal64 axy, const ipReal64 axz,
                                      const ipReal64 ayx, const ipReal64 ayy, const ipReal64 ayz,
                                      const ipReal64 azx, const ipReal64 azy, const ipReal64 azz,
                                      const ipReal64 tx, const ipReal64 ty, const ipReal64 tz)
    {
        _axx = axx; _axy = axy; _axz = axz;
        _ayx = ayx; _ayy = ayy; _ayz = ayz;
        _azx = azx; _azy = azy; _azz = azz;
        _tx = tx; _ty = ty; _tz = tz;
    }

    void                    setParams(const Vector& params);

    void                    setIdentity();

    void                    apply(ipReal64& x, ipReal64& y, ipReal64& z) const;

    Matrix4d                getHomogenousMatrix() const;

    Vector                  getParams() const;

    Matrix4d                getInvHomogenousMatrix() const;

    Vector                  getInvParams() const;

// attributes
protected:
    ipReal64        _axx;
    ipReal64        _axy;
    ipReal64        _axz;
    ipReal64        _ayx;
    ipReal64        _ayy;
    ipReal64        _ayz;
    ipReal64        _azx;
    ipReal64        _azy;
    ipReal64        _azz;

    ipReal64        _tx;

    ipReal64        _ty;

    ipReal64        _tz;
};


inline void
Affine3d::setIdentity()
{
    setParams(getIdentityParams());
}


} // end of namespace transform
} // end of namespace math
} // end of namespace ipsdk

#pragma warning (pop)

#endif // __IPSDKMATH_AFFINE3D_H__