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DT_Transform.h

/*
 * SOLID - Software Library for Interference Detection
 * 
 * Copyright (C) 2001-2003  Dtecta.  All rights reserved.
 *
 * This library may be distributed under the terms of the Q Public License
 * (QPL) as defined by Trolltech AS of Norway and appearing in the file
 * LICENSE.QPL included in the packaging of this file.
 *
 * This library may be distributed and/or modified under the terms of the
 * GNU General Public License (GPL) version 2 as published by the Free Software
 * Foundation and appearing in the file LICENSE.GPL included in the
 * packaging of this file.
 *
 * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Commercial use or any other use of this library not covered by either 
 * the QPL or the GPL requires an additional license from Dtecta. 
 * Please contact info@dtecta.com for enquiries about the terms of commercial
 * use of this library.
 */

#ifndef DT_TRANSFORM_H
#define DT_TRANSFORM_H

#include "DT_Convex.h"

class DT_Transform : public DT_Convex {
public:
      DT_Transform(const MT_Transform& xform, const DT_Convex& child) :
            m_xform(xform), 
            m_child(child)
      {}

      virtual MT_Scalar supportH(const MT_Vector3& v) const
      {
            return m_child.supportH(v * m_xform.getBasis()) + 
                     v.dot(m_xform.getOrigin());
      }

      virtual MT_Point3 support(const MT_Vector3& v) const
      {
            return m_xform(m_child.support(v * m_xform.getBasis()));
      }

private:
      const MT_Transform& m_xform;
      const DT_Convex&    m_child;
};


#endif

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