GEEKING

App/v8world/RigidJoint.cpp

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+ /* Copyright 2003-2005 ROBLOX Corporation, All Rights Reserved */
+#include "stdafx.h"
+
+#include "V8World/RigidJoint.h"
+#include "V8World/Primitive.h"
+
+DYNAMIC_FASTFLAG(OrthonormalizeJointCoords)
+
+namespace RBX {
+
+bool RigidJoint::isAligned()
+{
+	CoordinateFrame c0World = getPrimitive(0)->getCoordinateFrame() * jointCoord0;
+	CoordinateFrame c1World = getPrimitive(1)->getCoordinateFrame() * jointCoord1;
+	return Math::fuzzyEq(c0World, c1World);
+}
+
+CoordinateFrame RigidJoint::align(Primitive* pMove, Primitive* pStay)
+{
+	const CoordinateFrame& cMove = (pMove == getPrimitive(0)) ? jointCoord0 : jointCoord1;
+	const CoordinateFrame& cStay = (pStay == getPrimitive(0)) ? jointCoord0 : jointCoord1;
+
+	CoordinateFrame jointWorld = pStay->getCoordinateFrame() * cStay;
+	return jointWorld * cMove.inverse();
+}
+
+CoordinateFrame RigidJoint::getChildInParent(Primitive* parent, Primitive* child)
+{
+	const CoordinateFrame& cParent = (parent == getPrimitive(0)) ? jointCoord0 : jointCoord1;
+	const CoordinateFrame& cChild = (child == getPrimitive(0)) ? jointCoord0 : jointCoord1;
+
+	// Note - we saw this return a non-ortho matrix once
+	CoordinateFrame answer = cParent * cChild.inverse();
+	Math::orthonormalizeIfNecessary(answer.rotation);
+	return answer;
+}
+
+
+void RigidJoint::faceIdToCoords(
+	Primitive* p0, 
+	Primitive* p1, 
+	NormalId nId0, 
+	NormalId nId1, 
+	CoordinateFrame& c0, 
+	CoordinateFrame& c1)
+{
+	c0 = p0->getFaceCoordInObject(nId0);
+	if (DFFlag::OrthonormalizeJointCoords)
+		Math::orthonormalizeIfNecessary(c0.rotation);
+	CoordinateFrame worldC = p0->getCoordinateFrame() * c0;
+	c1 = p1->getCoordinateFrame().toObjectSpace(worldC);
+	if (DFFlag::OrthonormalizeJointCoords)
+		Math::orthonormalizeIfNecessary(c1.rotation);
+}
+
+
+} // namespace