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/**
@file PhysicsFrame.cpp
@maintainer Morgan McGuire, http://graphics.cs.williams.edu
@created 2002-07-09
@edited 2010-03-25
*/
#include "G3D/platform.h"
#include "G3D/Any.h"
#include "G3D/stringutils.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(const Any& a) {
const std::string& n = toLower(a.name());
*this = PhysicsFrame();
if (beginsWith(n, "vector3")) {
*this = PhysicsFrame(Vector3(a));
} else if (beginsWith(n, "matrix3")) {
*this = PhysicsFrame(Matrix3(a));
} else if (beginsWith(n, "cframe") || beginsWith(n, "coordinateframe")) {
*this = PhysicsFrame(CoordinateFrame(a));
} else if (beginsWith(n, "pframe") || beginsWith(n, "physicsframe")) {
if (a.type() == Any::ARRAY) {
a.verifySize(2);
rotation = a[0];
translation = a[1];
} else {
for (Any::AnyTable::Iterator it = a.table().begin(); it.hasMore(); ++it) {
const std::string& n = toLower(it->key);
if (n == "translation") {
translation = it->value;
} else if (n == "rotation") {
rotation = it->value;
} else {
a.verify(false, "Illegal table key: " + it->key);
}
}
}
}
}
PhysicsFrame PhysicsFrame::operator*(const PhysicsFrame& other) const {
PhysicsFrame result;
result.rotation = rotation * other.rotation;
result.translation = translation + rotation.toRotationMatrix() * other.translation;
return result;
}
PhysicsFrame::operator CoordinateFrame() 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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