repere.hpp

#ifndef _REPERE_H_
#define _REPERE_H_

#include <kernel/jafarMacro.hpp>
#include <geom/t3dEuler.hpp>
#include <jmath/jblas.hpp>

#include "facetsmap/functions.hpp"

namespace jafar {
namespace facetsmap {
  class Repere {
    private:
      inline Repere() : m_ref(0) , m_t3d_uptodate(false) {
        JFR_DEBUG("Construct the global reference");
        initIdentityRepere();
      };
      void initIdentityRepere();
    public:
      inline Repere(const Repere* ref, jblas::vec3 origin,jblas::vec3 i, jblas::vec3 j, jblas::vec3 k) :
        m_ref(ref), m_i(i), m_j(j), m_k(k), m_origin(origin), m_t3d_uptodate(false)
      {
        if(m_ref==0) m_ref = global();
      };
      inline Repere(const Repere* ref) : m_ref(ref), m_t3d_uptodate(false)
      {
        if(m_ref==0) m_ref = global();
        initIdentityRepere();
      };
    public:
      static inline Repere* copyRepere(Repere* r)
      {
        return new Repere(r->ref(), r->origin(), r->i(),r->j(),r->k());
      }
      static inline const Repere* global()
      { return (s_globalRef == 0) ? (s_globalRef = new Repere()) : s_globalRef ; }
      inline const Repere* ref() const { return m_ref; }
      void changeRef(const Repere*);
      inline void setRef(const Repere* ref) { m_ref = ref; }
      inline bool isGlobal() const { return (m_ref == 0); }
      inline jblas::vec3 i() const { return m_i; };
      inline jblas::vec3 j() const { return m_j; };
      inline jblas::vec3 k() const { return m_k; };
      inline jblas::vec3 origin() const { return m_origin; };
      
      inline jblas::vec3 globalOrigin() const { if(isGlobal()) return origin(); else return ref()->localToGlobal(origin(),1); }
      
      jblas::vec toEuler() const;
      void fromEuler(const jblas::vec&);
    public: // Formula to change the repere
/*      jblas::vec3 absoluteLocalToParent(jblas::vec3 ) const;
      jblas::vec3 absoluteParentToLocal(jblas::vec3 ) const;
      jblas::vec3 absoluteLocalToGlobal(jblas::vec3 ) const;
      jblas::vec3 absoluteGlobalToLocal(jblas::vec3 ) const;
      jblas::vec3 relativeLocalToParent(jblas::vec3 ) const;
      jblas::vec3 relativeParentToLocal(jblas::vec3 ) const;
      jblas::vec3 relativeLocalToGlobal(jblas::vec3 ) const;
      jblas::vec3 relativeGlobalToLocal(jblas::vec3 ) const;
      jblas::vec3 absoluteTransformTo(jblas::vec3, const Repere*) const;
      jblas::vec3 relativeTransformTo(jblas::vec3, const Repere*) const;*/
      inline jblas::vec3 localToGlobal(jblas::vec3 v, double l) const {
        if(isGlobal()) return v;
        jblas::mat44 localToGlobalMat = localToGlobal().getM();
        return prodMat44byVec3(localToGlobalMat, v, l);
      }
      geom::T3DEuler localToParent() const;
      void localToParent(geom::T3DEuler&) const;
      geom::T3DEuler parentToLocal() const;
      void parentToLocal(geom::T3DEuler&) const;
      geom::T3DEuler localToGlobal() const;
      void localToGlobal(geom::T3DEuler&) const;
      geom::T3DEuler globalToLocal() const;
      void globalToLocal(geom::T3DEuler&) const;
    protected:
      inline void setI(jblas::vec3 ni) { m_t3d_uptodate = false; m_i = ni; };
      inline void setJ(jblas::vec3 nj) { m_t3d_uptodate = false; m_j = nj; };
      inline void setK(jblas::vec3 nk) { m_t3d_uptodate = false; m_k = nk; };
      inline void setOrigin(jblas::vec3 no) { m_t3d_uptodate = false; m_origin = no; };
    private:
      static Repere* s_globalRef;
      const Repere* m_ref;
      jblas::vec3 m_i,m_j,m_k, m_origin;
      mutable bool m_t3d_uptodate;
      mutable geom::T3DEuler m_thisToRef;
  };

};
};

#endif