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/**
@file PhysicsFrame.h
@maintainer Morgan McGuire, http://graphics.cs.williams.edu
@created 2002-07-08
@edited 2006-01-10
*/
#ifndef G3D_PHYSICSFRAME_H
#define G3D_PHYSICSFRAME_H
#include "G3D/platform.h"
#include "G3D/Vector3.h"
#include "G3D/Matrix3.h"
#include "G3D/Quat.h"
#include "G3D/CoordinateFrame.h"
#include <math.h>
#include <string>
namespace G3D {
/**
An RT transformation using a quaternion; suitable for
physics integration.
This interface is in "Beta" and will change in the next release.
*/
class PhysicsFrame {
public:
Quat rotation;
/**
Takes object space points to world space.
*/
Vector3 translation;
/**
Initializes to the identity frame.
*/
PhysicsFrame();
/**
Purely translational force
*/
PhysicsFrame(const Vector3& translation) : translation(translation) {}
PhysicsFrame(const CoordinateFrame& coordinateFrame);
/** Compose: create the transformation that is <I>other</I> followed by <I>this</I>.*/
PhysicsFrame operator*(const PhysicsFrame& other) const;
virtual ~PhysicsFrame() {}
CoordinateFrame toCoordinateFrame() const;
/**
Linear interpolation (spherical linear for the rotations).
*/
PhysicsFrame lerp(
const PhysicsFrame& other,
float alpha) const;
void deserialize(class BinaryInput& b);
void serialize(class BinaryOutput& b) const;
};
} // namespace
#endif
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