forked from bartvdbraak/blender
af9573e9ea
- Changed license from MIT to ZLib. - Added 3D Sweep and Prune contribution - More stable native constraint solver Sorry for any inconvenience caused by this checkin. All Blender buildsystems require update: added files and moved files.
78 lines
2.4 KiB
C++
78 lines
2.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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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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