Transform3.h

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/*************************************************************************
> File Name: Transform3.h
> Project Name: CubbyFlow
> Author: Chan-Ho Chris Ohk
> Purpose: Represents 3-D rigid body transform.
> Created Time: 2017/03/29
> Copyright (c) 2018, Chan-Ho Chris Ohk
*************************************************************************/
#ifndef CUBBYFLOW_TRANSFORM3_H
#define CUBBYFLOW_TRANSFORM3_H

#include <Core/BoundingBox/BoundingBox3.h>
#include <Core/Math/Quaternion.h>
#include <Core/Ray/Ray3.h>
#include <Core/Vector/Vector3.h>

namespace CubbyFlow
{
    class Transform3
    {
    public:
        Transform3();

        Transform3(const Vector3D& translation, const QuaternionD& orientation);

        const Vector3D& GetTranslation() const;

        void SetTranslation(const Vector3D& translation);

        const QuaternionD& GetOrientation() const;

        void SetOrientation(const QuaternionD& orientation);

        Vector3D ToLocal(const Vector3D& pointInWorld) const;

        Vector3D ToLocalDirection(const Vector3D& dirInWorld) const;

        Ray3D ToLocal(const Ray3D& rayInWorld) const;

        BoundingBox3D ToLocal(const BoundingBox3D& bboxInWorld) const;

        Vector3D ToWorld(const Vector3D& pointInLocal) const;

        Vector3D ToWorldDirection(const Vector3D& dirInLocal) const;

        Ray3D ToWorld(const Ray3D& rayInLocal) const;

        BoundingBox3D ToWorld(const BoundingBox3D& bboxInLocal) const;

    private:
        Vector3D m_translation;
        QuaternionD m_orientation;
        Matrix3x3D m_orientationMat3;
        Matrix3x3D m_inverseOrientationMat3;
    };
}

#endif