forked from bartvdbraak/blender
81 lines
2.8 KiB
C++
81 lines
2.8 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL 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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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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/BL DUAL LICENSE BLOCK *****
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*/
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#ifndef SM_MOTIONSTATE_H
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#define SM_MOTIONSTATE_H
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#include "MT_Transform.h"
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class SM_MotionState {
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public:
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SM_MotionState() :
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m_time(0.0),
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m_pos(0.0, 0.0, 0.0),
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m_orn(0.0, 0.0, 0.0, 1.0),
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m_lin_vel(0.0, 0.0, 0.0),
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m_ang_vel(0.0, 0.0, 0.0)
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{}
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void setPosition(const MT_Point3& pos) { m_pos = pos; }
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void setOrientation(const MT_Quaternion& orn) { m_orn = orn; }
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void setLinearVelocity(const MT_Vector3& lin_vel) { m_lin_vel = lin_vel; }
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void setAngularVelocity(const MT_Vector3& ang_vel) { m_ang_vel = ang_vel; }
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void setTime(MT_Scalar time) { m_time = time; }
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const MT_Point3& getPosition() const { return m_pos; }
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const MT_Quaternion& getOrientation() const { return m_orn; }
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const MT_Vector3& getLinearVelocity() const { return m_lin_vel; }
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const MT_Vector3& getAngularVelocity() const { return m_ang_vel; }
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MT_Scalar getTime() const { return m_time; }
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void integrateMidpoint(MT_Scalar timeStep, const SM_MotionState &prev_state, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel);
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void integrateBackward(MT_Scalar timeStep, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel);
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void integrateForward(MT_Scalar timeStep, const SM_MotionState &prev_state);
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void lerp(const SM_MotionState &prev, const SM_MotionState &next);
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void lerp(MT_Scalar t, const SM_MotionState &other);
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virtual MT_Transform getTransform() const {
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return MT_Transform(m_pos, m_orn);
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}
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protected:
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MT_Scalar m_time;
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MT_Point3 m_pos;
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MT_Quaternion m_orn;
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MT_Vector3 m_lin_vel;
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MT_Vector3 m_ang_vel;
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};
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#endif
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