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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 *****
*/
#include <MT_Scalar.h>
#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();
}
/*
// Newtonian lerp: interpolate based on Newtonian motion
void SM_MotionState::nlerp(const SM_MotionState &prev, const SM_MotionState &next)
{
MT_Scalar dt = next.getTime() - prev.getTime();
MT_Scalar t = getTime() - prev.getTime();
MT_Vector3 dx = next.getPosition() - prev.getPosition();
MT_Vector3 a = dx/(dt*dt) - prev.getLinearVelocity()/dt;
m_pos = prev.getPosition() + prev.getLinearVelocity()*t + a*t*t;
}
*/
void SM_MotionState::lerp(const SM_MotionState &prev, const SM_MotionState &next)
{
MT_Scalar dt = next.getTime() - prev.getTime();
if (MT_fuzzyZero(dt))
{
*this = next;
return;
}
MT_Scalar x = (getTime() - prev.getTime())/dt;
m_pos = x*next.getPosition() + (1-x)*prev.getPosition();
m_orn = prev.getOrientation().slerp(next.getOrientation(), 1-x);
m_lin_vel = x*next.getLinearVelocity() + (1-x)*prev.getLinearVelocity();
m_ang_vel = x*next.getAngularVelocity() + (1-x)*prev.getAngularVelocity();
}
void SM_MotionState::lerp(MT_Scalar t, const SM_MotionState &other)
{
MT_Scalar x = (t - getTime())/(other.getTime() - getTime());
m_pos = (1-x)*m_pos + x*other.getPosition();
m_orn = other.getOrientation().slerp(m_orn, x);
m_lin_vel = (1-x)*m_lin_vel + x*other.getLinearVelocity();
m_ang_vel = (1-x)*m_ang_vel + x*other.getAngularVelocity();
m_time = t;
}
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