diff options
Diffstat (limited to 'source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp')
-rw-r--r-- | source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp | 71 |
1 files changed, 71 insertions, 0 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp new file mode 100644 index 00000000000..a3285b19116 --- /dev/null +++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp @@ -0,0 +1,71 @@ +/** + * $Id$ + * + * ***** BEGIN GPL/BL DUAL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * The Original Code is: all of this file. + * + * Contributor(s): none yet. + * + * ***** END GPL/BL DUAL LICENSE BLOCK ***** + */ + +#include <MT_Vector3.h> +#include <MT_Quaternion.h> + +#include "SM_MotionState.h" + +void SM_MotionState::integrateMidpoint(MT_Scalar timeStep, const SM_MotionState &prev_state, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel) +{ + m_pos += (prev_state.getLinearVelocity() + velocity) * (timeStep * 0.5); + m_orn += (prev_state.getAngularVelocity() * prev_state.getOrientation() + ang_vel * m_orn) * (timeStep * 0.25); + m_orn.normalize(); +} + +void SM_MotionState::integrateBackward(MT_Scalar timeStep, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel) +{ + m_pos += velocity * timeStep; + m_orn += ang_vel * m_orn * (timeStep * 0.5); + m_orn.normalize(); +} + +void SM_MotionState::integrateForward(MT_Scalar timeStep, const SM_MotionState &prev_state) +{ + m_pos += prev_state.getLinearVelocity() * timeStep; + m_orn += prev_state.getAngularVelocity() * m_orn * (timeStep * 0.5); + m_orn.normalize(); +} + +void SM_MotionState::lerp(MT_Scalar t, const SM_MotionState &other) +{ + MT_Scalar x = (t - getTime())/(other.getTime() - getTime()); + m_pos = x*m_pos + (1-x)*other.getPosition(); + + m_orn = m_orn.slerp(other.getOrientation(), x); + + m_lin_vel = x*m_lin_vel + (1-x)*other.getLinearVelocity(); + m_ang_vel = x*m_ang_vel + (1-x)*other.getAngularVelocity(); + + m_time = t; +} + |