GEEKING

App/v8kernel/Link.cpp

@@ -0,0 +1,70 @@
+/* Copyright 2003-2006 ROBLOX Corporation, All Rights Reserved */
+#include "stdafx.h"
+
+#include "V8Kernel/Link.h"
+#include "V8Kernel/Body.h"
+
+namespace RBX {
+
+
+Link::Link()
+: body(NULL)
+, stateIndex(Body::getNextStateIndex())
+{
+}
+
+Link::~Link()
+{
+}
+
+void Link::dirty()
+{	
+	if (body)
+	{
+		RBXASSERT(body->getLink() == this);
+		body->makeStateDirty();
+	}
+}
+
+const CoordinateFrame& Link::getChildInParent() 
+{
+	unsigned int parentState = body->getParent()->getStateIndex();
+
+	if (stateIndex != parentState)
+	{
+		computeChildInParent(childInParent);
+		stateIndex = parentState;
+	}
+	return childInParent;
+}
+
+void Link::reset(
+	const CoordinateFrame& parentC,
+	const CoordinateFrame& childC)
+{
+	parentCoord = parentC;
+	childCoord = childC;
+	childCoordInverse = childC.inverse();
+}
+
+
+void RevoluteLink::computeChildInParent(CoordinateFrame& answer) const
+{
+	CoordinateFrame rotatedParentCoord(	Math::rotateAboutZ(parentCoord.rotation, jointAngle),
+										parentCoord.translation);
+	
+	CoordinateFrame::mul(rotatedParentCoord, childCoordInverse, answer);
+}
+
+
+
+void D6Link::computeChildInParent(CoordinateFrame& answer) const
+{
+	CoordinateFrame rotatedParentCoord = parentCoord * offsetCFrame;
+	
+	CoordinateFrame::mul(rotatedParentCoord, childCoordInverse, answer);
+}
+
+
+} // namespace
+