56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
/**
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* $Id$
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#include "KX_OrientationInterpolator.h"
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#include "MT_Matrix3x3.h"
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#include "KX_IScalarInterpolator.h"
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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void KX_OrientationInterpolator::Execute(float currentTime) const {
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MT_Vector3 eul(m_ipos[0]->GetValue(currentTime),
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m_ipos[1]->GetValue(currentTime),
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m_ipos[2]->GetValue(currentTime));
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MT_Scalar ci = cos(eul[0]);
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MT_Scalar cj = cos(eul[1]);
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MT_Scalar ch = cos(eul[2]);
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MT_Scalar si = sin(eul[0]);
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MT_Scalar sj = sin(eul[1]);
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MT_Scalar sh = sin(eul[2]);
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MT_Scalar cc = ci*ch;
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MT_Scalar cs = ci*sh;
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MT_Scalar sc = si*ch;
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MT_Scalar ss = si*sh;
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m_target.setValue(cj*ch, sj*sc-cs, sj*cc+ss,
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cj*sh, sj*ss+cc, sj*cs-sc,
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-sj, cj*si, cj*ci);
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}
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