78 lines
2.4 KiB
C++
78 lines
2.4 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
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 B_SCREWING_H
|
|
#define B_SCREWING_H
|
|
|
|
|
|
#include <LinearMath/btVector3.h>
|
|
#include <LinearMath/btPoint3.h>
|
|
#include <LinearMath/btTransform.h>
|
|
|
|
|
|
#define SCREWEPSILON 0.00001f
|
|
|
|
///BU_Screwing implements screwing motion interpolation.
|
|
class BU_Screwing
|
|
{
|
|
public:
|
|
|
|
|
|
BU_Screwing(const btVector3& relLinVel,const btVector3& relAngVel);
|
|
|
|
~BU_Screwing() {
|
|
};
|
|
|
|
btScalar CalculateF(btScalar t) const;
|
|
//gives interpolated position for time in [0..1] in screwing frame
|
|
|
|
inline btPoint3 InBetweenPosition(const btPoint3& pt,btScalar t) const
|
|
{
|
|
return btPoint3(
|
|
pt.x()*btCos(m_w*t)-pt.y()*btSin(m_w*t),
|
|
pt.x()*btSin(m_w*t)+pt.y()*btCos(m_w*t),
|
|
pt.z()+m_s*CalculateF(t));
|
|
}
|
|
|
|
inline btVector3 InBetweenVector(const btVector3& vec,btScalar t) const
|
|
{
|
|
return btVector3(
|
|
vec.x()*btCos(m_w*t)-vec.y()*btSin(m_w*t),
|
|
vec.x()*btSin(m_w*t)+vec.y()*btCos(m_w*t),
|
|
vec.z());
|
|
}
|
|
|
|
//gives interpolated transform for time in [0..1] in screwing frame
|
|
btTransform InBetweenTransform(const btTransform& tr,btScalar t) const;
|
|
|
|
|
|
//gives matrix from global frame into screwing frame
|
|
void LocalMatrix(btTransform &t) const;
|
|
|
|
inline const btVector3& GetU() const { return m_u;}
|
|
inline const btVector3& GetO() const {return m_o;}
|
|
inline const btScalar GetS() const{ return m_s;}
|
|
inline const btScalar GetW() const { return m_w;}
|
|
|
|
private:
|
|
float m_w;
|
|
float m_s;
|
|
btVector3 m_u;
|
|
btVector3 m_o;
|
|
};
|
|
|
|
#endif //B_SCREWING_H
|