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/**
* $Id$
*
* ***** 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 *****
*/
#ifndef SM_MOTIONSTATE_H
#define SM_MOTIONSTATE_H
#include "MT_Transform.h"
class SM_MotionState {
public:
SM_MotionState() :
m_time(0.0),
m_pos(0.0, 0.0, 0.0),
m_orn(0.0, 0.0, 0.0, 1.0),
m_lin_vel(0.0, 0.0, 0.0),
m_ang_vel(0.0, 0.0, 0.0)
{}
void setPosition(const MT_Point3& pos) { m_pos = pos; }
void setOrientation(const MT_Quaternion& orn) { m_orn = orn; }
void setLinearVelocity(const MT_Vector3& lin_vel) { m_lin_vel = lin_vel; }
void setAngularVelocity(const MT_Vector3& ang_vel) { m_ang_vel = ang_vel; }
void setTime(MT_Scalar time) { m_time = time; }
const MT_Point3& getPosition() const { return m_pos; }
const MT_Quaternion& getOrientation() const { return m_orn; }
const MT_Vector3& getLinearVelocity() const { return m_lin_vel; }
const MT_Vector3& getAngularVelocity() const { return m_ang_vel; }
MT_Scalar getTime() const { return m_time; }
void integrateMidpoint(MT_Scalar timeStep, const SM_MotionState &prev_state, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel);
void integrateBackward(MT_Scalar timeStep, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel);
void integrateForward(MT_Scalar timeStep, const SM_MotionState &prev_state);
void lerp(MT_Scalar t, const SM_MotionState &other);
virtual MT_Transform getTransform() const {
return MT_Transform(m_pos, m_orn);
}
protected:
MT_Scalar m_time;
MT_Point3 m_pos;
MT_Quaternion m_orn;
MT_Vector3 m_lin_vel;
MT_Vector3 m_ang_vel;
};
#endif
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