Mathias Froehlich
22878b6f89
The basic boundignvolume implementation does only need math and geometry. As such it is agnostic to the scenegraph being used. Only the parts building this query structure from terrain depend on the implementation of the terrain. So, move this into the simgear core component.
127 lines
3.9 KiB
C++
127 lines
3.9 KiB
C++
// Copyright (C) 2008 - 2009 Mathias Froehlich - Mathias.Froehlich@web.de
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//
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Library General Public
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// License as published by the Free Software Foundation; either
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// version 2 of the License, or (at your option) any later version.
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//
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Library General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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#ifndef BVHMotionTransform_hxx
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#define BVHMotionTransform_hxx
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#include "BVHVisitor.hxx"
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#include "BVHNode.hxx"
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#include "BVHGroup.hxx"
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namespace simgear {
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class BVHMotionTransform : public BVHGroup {
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public:
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BVHMotionTransform();
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virtual ~BVHMotionTransform();
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virtual void accept(BVHVisitor& visitor);
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void setTransform(const BVHMotionTransform& transform);
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void setToWorldTransform(const SGMatrixd& transform);
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void setToLocalTransform(const SGMatrixd& transform);
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void setLinearVelocity(const SGVec3d& linearVelocity)
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{ _linearVelocity = linearVelocity; }
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const SGVec3d& getLinearVelocity() const
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{ return _linearVelocity; }
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void setAngularVelocity(const SGVec3d& angularVelocity)
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{ _angularVelocity = angularVelocity; }
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const SGVec3d& getAngularVelocity() const
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{ return _angularVelocity; }
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void setReferenceTime(const double& referenceTime)
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{ _referenceTime = referenceTime; }
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const double& getReferenceTime() const
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{ return _referenceTime; }
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void setStartTime(const double& startTime)
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{ _startTime = startTime; }
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const double& getStartTime() const
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{ return _startTime; }
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void setEndTime(const double& endTime)
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{ _endTime = endTime; }
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const double& getEndTime() const
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{ return _endTime; }
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SGMatrixd getToWorldTransform(const double& t) const
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{
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if (t == _referenceTime)
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return _toWorldReference;
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double dt = t - _referenceTime;
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SGMatrixd matrix(_toWorldReference);
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matrix.postMultRotate(SGQuatd::fromAngleAxis(dt*_angularVelocity));
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matrix.postMultTranslate(dt*_linearVelocity);
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return matrix;
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}
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SGMatrixd getToLocalTransform(const double& t) const
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{
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if (t == _referenceTime)
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return _toLocalReference;
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double dt = _referenceTime - t;
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SGMatrixd matrix(_toLocalReference);
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matrix.preMultRotate(SGQuatd::fromAngleAxis(dt*_angularVelocity));
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matrix.preMultTranslate(dt*_linearVelocity);
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return matrix;
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}
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const SGMatrixd& getToWorldReferenceTransform() const
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{ return _toWorldReference; }
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const SGMatrixd& getToLocalReferenceTransform() const
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{ return _toLocalReference; }
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SGVec3d getLinearVelocityAt(const SGVec3d& reference) const
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{ return _linearVelocity + cross(_angularVelocity, reference); }
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SGSphered sphereToLocal(const SGSphered& sphere, const double& t) const
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{
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SGMatrixd matrix = getToLocalTransform(t);
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SGVec3d center = matrix.xformPt(sphere.getCenter());
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double radius = _toLocalAmplification*sphere.getRadius();
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return SGSphered(center, radius);
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}
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void setId(Id id)
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{ _id = id; }
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Id getId() const
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{ return _id; }
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private:
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virtual SGSphered computeBoundingSphere() const;
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void updateAmplificationFactors();
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SGMatrixd _toWorldReference;
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SGMatrixd _toLocalReference;
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double _toWorldAmplification;
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double _toLocalAmplification;
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SGVec3d _linearVelocity;
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SGVec3d _angularVelocity;
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double _referenceTime;
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double _startTime;
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double _endTime;
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Id _id;
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};
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}
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#endif
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