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/*
* SOLID - Software Library for Interference Detection
*
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
*
* This library may be distributed under the terms of the Q Public License
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Commercial use or any other use of this library not covered by either
* the QPL or the GPL requires an additional license from Dtecta.
* Please contact info@dtecta.com for enquiries about the terms of commercial
* use of this library.
*/
#include "Kinetic.h"
void Kinetic::proceed(MT_Scalar step)
{
m_xform.setOrigin(m_xform.getOrigin() + m_lin_vel * step);
m_orn += m_ang_vel * m_orn * (step * 0.5f);
m_orn.normalize();
m_xform.setRotation(m_orn);
}
void Kinetic::setTransform(const MT_Transform& xform)
{
m_xform = xform;
m_xform.getBasis().getRotation(m_orn);
}
void Kinetic::reset(const MT_Transform& xform)
{
setTransform(xform);
m_lin_vel.setValue(0.0f, 0.0f, 0.0f);
m_ang_vel.setValue(0.0f, 0.0f, 0.0f);
}
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