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Implement basic evoluationary algorithm.

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Benelot
2016-09-11 22:25:22 +02:00
parent d9a2113b28
commit 88edbf8524
3 changed files with 536 additions and 191 deletions
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examples/Utils/b3ReferenceFrameHelper.hpp Executable file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef B3_REFERENCEFRAMEHELPER_H
#define B3_REFERENCEFRAMEHELPER_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
class b3ReferenceFrameHelper {
public:
static btVector3 getPointWorldToLocal( btTransform localObjectCenterOfMassTransform, btVector3 point) {
return localObjectCenterOfMassTransform.inverse() * point; // transforms the point from the world frame into the local frame
}
static btVector3 getPointLocalToWorld( btTransform localObjectCenterOfMassTransform, btVector3 point) {
return localObjectCenterOfMassTransform * point; // transforms the point from the world frame into the local frame
}
static btVector3 getAxisWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 axis) {
btTransform local1 = localObjectCenterOfMassTransform.inverse(); // transforms the axis from the local frame into the world frame
btVector3 zero(0,0,0);
local1.setOrigin(zero);
return local1 * axis;
}
static btVector3 getAxisLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 axis) {
btTransform local1 = localObjectCenterOfMassTransform; // transforms the axis from the local frame into the world frame
btVector3 zero(0,0,0);
local1.setOrigin(zero);
return local1 * axis;
}
static btTransform getTransformWorldToLocal(btTransform localObjectCenterOfMassTransform, btTransform transform) {
return localObjectCenterOfMassTransform.inverse() * transform; // transforms the axis from the local frame into the world frame
}
static btTransform getTransformLocalToWorld(btTransform localObjectCenterOfMassTransform, btTransform transform) {
return localObjectCenterOfMassTransform * transform; // transforms the axis from the local frame into the world frame
}
};
#endif /* B3_REFERENCEFRAMEHELPER_H */