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/**
* $Id$
* ***** BEGIN GPL 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.
*
* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
*/
#include "KX_OrientationInterpolator.h"
#include "MT_Matrix3x3.h"
#include "KX_IScalarInterpolator.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
void KX_OrientationInterpolator::Execute(float currentTime) const {
MT_Vector3 eul(m_ipos[0]->GetValue(currentTime),
m_ipos[1]->GetValue(currentTime),
m_ipos[2]->GetValue(currentTime));
MT_Scalar ci = cos(eul[0]);
MT_Scalar cj = cos(eul[1]);
MT_Scalar ch = cos(eul[2]);
MT_Scalar si = sin(eul[0]);
MT_Scalar sj = sin(eul[1]);
MT_Scalar sh = sin(eul[2]);
MT_Scalar cc = ci*ch;
MT_Scalar cs = ci*sh;
MT_Scalar sc = si*ch;
MT_Scalar ss = si*sh;
m_target.setValue(cj*ch, sj*sc-cs, sj*cc+ss,
cj*sh, sj*ss+cc, sj*cs-sc,
-sj, cj*si, cj*ci);
}
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