forked from bartvdbraak/blender
281f236e6e
- on Ton's request use double versions of cos,sin,tan, sqrt etc. just like Solid in MT_Scalar #if defined (__sun) || defined (__sun__) || defined (__sparc) || defined (__APPLE__) - updated an url in the header of files
73 lines
1.9 KiB
C++
73 lines
1.9 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef B_SCREWING_H
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#define B_SCREWING_H
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#include <SimdVector3.h>
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#include <SimdPoint3.h>
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#include <SimdTransform.h>
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#define SCREWEPSILON 0.00001f
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///BU_Screwing implements screwing motion interpolation.
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class BU_Screwing
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{
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public:
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BU_Screwing(const SimdVector3& relLinVel,const SimdVector3& relAngVel);
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~BU_Screwing() {
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};
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SimdScalar CalculateF(SimdScalar t) const;
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//gives interpolated position for time in [0..1] in screwing frame
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inline SimdPoint3 InBetweenPosition(const SimdPoint3& pt,SimdScalar t) const
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{
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return SimdPoint3(
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pt.x()*SimdCos(m_w*t)-pt.y()*SimdSin(m_w*t),
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pt.x()*SimdSin(m_w*t)+pt.y()*SimdCos(m_w*t),
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pt.z()+m_s*CalculateF(t));
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}
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inline SimdVector3 InBetweenVector(const SimdVector3& vec,SimdScalar t) const
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{
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return SimdVector3(
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vec.x()*SimdCos(m_w*t)-vec.y()*SimdSin(m_w*t),
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vec.x()*SimdSin(m_w*t)+vec.y()*SimdCos(m_w*t),
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vec.z());
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}
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//gives interpolated transform for time in [0..1] in screwing frame
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SimdTransform InBetweenTransform(const SimdTransform& tr,SimdScalar t) const;
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//gives matrix from global frame into screwing frame
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void LocalMatrix(SimdTransform &t) const;
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inline const SimdVector3& GetU() const { return m_u;}
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inline const SimdVector3& GetO() const {return m_o;}
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inline const SimdScalar GetS() const{ return m_s;}
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inline const SimdScalar GetW() const { return m_w;}
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private:
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float m_w;
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float m_s;
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SimdVector3 m_u;
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SimdVector3 m_o;
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};
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#endif //B_SCREWING_H
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