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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef B_SCREWING_H
#define B_SCREWING_H
#include <SimdVector3.h>
#include <SimdPoint3.h>
#include <SimdTransform.h>
#define SCREWEPSILON 0.00001f
///BU_Screwing implements screwing motion interpolation.
class BU_Screwing
{
public:
BU_Screwing(const SimdVector3& relLinVel,const SimdVector3& relAngVel);
~BU_Screwing() {
};
SimdScalar CalculateF(SimdScalar t) const;
//gives interpolated position for time in [0..1] in screwing frame
inline SimdPoint3 InBetweenPosition(const SimdPoint3& pt,SimdScalar t) const
{
return SimdPoint3(
pt.x()*cosf(m_w*t)-pt.y()*sinf(m_w*t),
pt.x()*sinf(m_w*t)+pt.y()*cosf(m_w*t),
pt.z()+m_s*CalculateF(t));
}
inline SimdVector3 InBetweenVector(const SimdVector3& vec,SimdScalar t) const
{
return SimdVector3(
vec.x()*cosf(m_w*t)-vec.y()*sinf(m_w*t),
vec.x()*sinf(m_w*t)+vec.y()*cosf(m_w*t),
vec.z());
}
//gives interpolated transform for time in [0..1] in screwing frame
SimdTransform InBetweenTransform(const SimdTransform& tr,SimdScalar t) const;
//gives matrix from global frame into screwing frame
void LocalMatrix(SimdTransform &t) const;
inline const SimdVector3& GetU() const { return m_u;}
inline const SimdVector3& GetO() const {return m_o;}
inline const SimdScalar GetS() const{ return m_s;}
inline const SimdScalar GetW() const { return m_w;}
private:
float m_w;
float m_s;
SimdVector3 m_u;
SimdVector3 m_o;
};
#endif //B_SCREWING_H
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