Placement.h

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/***************************************************************************
 *   Copyright (c) 2006 Jürgen Riegel <juergen.riegel@web.de>              *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  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 Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/
 
#pragma once
 
#include <Base/Rotation.h>
 
 
namespace Base
{
class DualQuat;
class Matrix4D;
class LX_BASE_EXPORT Placement
{
public:
    Placement() = default;
    Placement(const Placement&);
    Placement(const Base::Matrix4D& matrix);
    Placement(const Vector3d& Pos, const Rotation& Rot);
    Placement(const Vector3d& Pos, const Rotation& Rot, const Vector3d& Cnt);
 
    static Placement fromDualQuaternion(DualQuat qq);
 
    Matrix4D toMatrix(void) const;
    void fromMatrix(const Matrix4D& m);
    DualQuat toDualQuaternion() const;
    const Vector3d& getPosition(void) const { return _pos; }
    const Rotation& getRotation(void) const { return _rot; }
    void setPosition(const Vector3d& Pos) { _pos = Pos; }
    void setRotation(const Rotation& Rot) { _rot = Rot; }
 
    bool isIdentity() const;
    void invert();
    Placement inverse() const;
    void move(const Vector3d& MovVec);
 
    Placement& operator*=(const Placement& p);
    Placement operator*(const Placement& p) const;
    bool operator==(const Placement&) const;
    bool operator!=(const Placement&) const;
    Placement& operator=(const Placement&);
    Placement pow(double t, bool shorten = true) const;
 
    void multVec(const Vector3d& src, Vector3d& dst) const;
 
    static Placement slerp(const Placement& p0, const Placement& p1, double t);
    static Placement sclerp(const Placement& p0, const Placement& p1, double t, bool shorten = true);
 
protected:
    Vector3<double> _pos;
    Base::Rotation _rot;
};
 
}  // namespace Base