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65 lines
1.2 KiB
C++
65 lines
1.2 KiB
C++
/**
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@file PhysicsFrame.cpp
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@maintainer Morgan McGuire, http://graphics.cs.williams.edu
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@created 2002-07-09
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@edited 2010-03-25
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*/
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#include "G3D/platform.h"
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#include "G3D/stringutils.h"
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#include "G3D/PhysicsFrame.h"
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namespace G3D {
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PhysicsFrame::PhysicsFrame() {
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translation = Vector3::zero();
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rotation = Quat();
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}
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PhysicsFrame::PhysicsFrame(
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const CoordinateFrame& coordinateFrame) {
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translation = coordinateFrame.translation;
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rotation = Quat(coordinateFrame.rotation);
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}
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PhysicsFrame PhysicsFrame::operator*(const PhysicsFrame& other) const {
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PhysicsFrame result;
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result.rotation = rotation * other.rotation;
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result.translation = translation + rotation.toRotationMatrix() * other.translation;
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return result;
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}
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PhysicsFrame::operator CoordinateFrame() const {
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CoordinateFrame f;
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f.translation = translation;
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f.rotation = rotation.toRotationMatrix();
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return f;
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}
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PhysicsFrame PhysicsFrame::lerp(
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const PhysicsFrame& other,
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float alpha) const {
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PhysicsFrame result;
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result.translation = translation.lerp(other.translation, alpha);
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result.rotation = rotation.slerp(other.rotation, alpha);
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return result;
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}
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}; // namespace
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