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/**
@file PhysicsFrame.cpp
@maintainer Morgan McGuire, matrix@graphics3d.com
@created 2002-07-09
@edited 2006-01-25
*/
#include "G3D/platform.h"
#include "G3D/PhysicsFrame.h"
#include "G3D/BinaryInput.h"
#include "G3D/BinaryOutput.h"
namespace G3D {
PhysicsFrame::PhysicsFrame() {
translation = Vector3::zero();
rotation = Quat();
}
PhysicsFrame::PhysicsFrame(
const CoordinateFrame& coordinateFrame) {
translation = coordinateFrame.translation;
rotation = Quat(coordinateFrame.rotation);
}
PhysicsFrame PhysicsFrame::operator*(const PhysicsFrame& other) const {
PhysicsFrame result;
result.rotation = rotation * other.rotation;
result.translation = translation + rotation.toRotationMatrix() * other.translation;
return result;
}
CoordinateFrame PhysicsFrame::toCoordinateFrame() const {
CoordinateFrame f;
f.translation = translation;
f.rotation = rotation.toRotationMatrix();
return f;
}
PhysicsFrame PhysicsFrame::lerp(
const PhysicsFrame& other,
float alpha) const {
PhysicsFrame result;
result.translation = translation.lerp(other.translation, alpha);
result.rotation = rotation.slerp(other.rotation, alpha);
return result;
}
void PhysicsFrame::deserialize(class BinaryInput& b) {
translation.deserialize(b);
rotation.deserialize(b);
}
void PhysicsFrame::serialize(class BinaryOutput& b) const {
translation.serialize(b);
rotation.serialize(b);
}
}; // namespace
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