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99 lines
2.7 KiB
C++
99 lines
2.7 KiB
C++
//
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// Copyright (C) 2005-2006 Rational Discovery LLC
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//
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// @@ All Rights Reserved @@
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// This file is part of the RDKit.
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// The contents are covered by the terms of the BSD license
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// which is included in the file license.txt, found at the root
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// of the RDKit source tree.
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//
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#include <RDGeneral/export.h>
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#ifndef __RD_TRANSFORM3D_H__
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#define __RD_TRANSFORM3D_H__
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#include "Transform.h"
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#include <Numerics/SquareMatrix.h>
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namespace RDGeom {
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class Point3D;
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const unsigned int DIM_3D = 4;
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class RDKIT_RDGEOMETRYLIB_EXPORT Transform3D
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: public RDNumeric::SquareMatrix<double> {
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public:
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//! Constructor
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/*!
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Initialize to an identity matrix transformation.
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This is a 4x4 matrix that includes the rotation and translation parts
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see Foley's "Introduction to Computer Graphics" for the representation
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Operator *= and = are provided by the parent class square matrix.
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Operator *= needs some explanation, since the order matters. This transform
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gets set to
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the combination other and the current state of this transform
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If this_old and this_new are the states of this object before and after this
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function
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we have
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this_new(point) = this_old(other(point))
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*/
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Transform3D() : RDNumeric::SquareMatrix<double>(DIM_3D, 0.0) {
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unsigned int i, id;
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for (i = 0; i < DIM_3D; i++) {
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id = i * (DIM_3D + 1);
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d_data[id] = 1.0;
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}
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}
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void setToIdentity();
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void TransformPoint(Point3D &pt) const;
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/*! \brief Set the translation vector
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*/
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void SetTranslation(const Point3D &move);
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/*! \brief set the rotation matrix
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*
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* The rotation matrix is set to rotation by th specified angle
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* about the specified axis
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*/
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void SetRotation(double angle, AxisType axis);
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/*! \brief set the rotation matrix
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*
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* The rotation matrix is set to rotation by th specified angle
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* about an arbitrary axis
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*/
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void SetRotation(double angle, const Point3D &axis);
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void SetRotation(double cosT, double sinT, const Point3D &axis);
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//! Set the rotation matrix from a quaternion
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void SetRotationFromQuaternion(double quaternion[4]);
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//! Reflect the rotation
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void Reflect();
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private:
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};
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} // namespace RDGeom
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/*! \brief Combine two transforms and return the results as a new transform
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*
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* The order is important here, on two transforms t1 and t2
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* t3 = t1*t2
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* The resulting transform t3 has the folliwng effect
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* t3(point) = t1(t2(point))
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*/
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RDKIT_RDGEOMETRYLIB_EXPORT RDGeom::Transform3D operator*(
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const RDGeom::Transform3D &t1, const RDGeom::Transform3D &t2);
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/*! \brief Transform a point:
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*
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*/
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RDKIT_RDGEOMETRYLIB_EXPORT RDGeom::Point3D operator*(
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const RDGeom::Transform3D &t, const RDGeom::Point3D &pt);
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#endif
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