//-------------------------------------------------------------------------------
// @ SimObject::Integrate()
//-------------------------------------------------------------------------------
// Move to next time step
//-------------------------------------------------------------------------------
void
SimObject::Integrate( float dt )
{
// compute acceleration
IvVector3 accel = 1.0f/mMass * CurrentForce( mTranslate, mVelocity,
mRotate, mAngularVelocity );
// clear small values
accel.Clean();
// compute new velocity, position
mVelocity += dt*accel;
// clear small values
mVelocity.Clean();
mTranslate += dt*mVelocity;
IvVector3 torque = CurrentTorque( mTranslate, mVelocity, mRotate, mAngularVelocity );
// compute new angular momentum, orientation
mAngularMomentum += dt*torque;
mAngularMomentum.Clean();
// update angular velocity
IvMatrix33 rotateMat(mRotate);
mWorldMomentsInverse = rotateMat*mMomentsInverse*::Transpose(rotateMat);
mAngularVelocity = mWorldMomentsInverse*mAngularMomentum;
mAngularVelocity.Clean();
IvQuat w(mAngularVelocity);
mRotate += 0.5f*dt*(w*mRotate);
mRotate.Clean();
mRotate.Normalize();
} // End of SimObject::Integrate()
// yaw
void Camera::pan(float degrees) {
//rodriguez_rotate(degrees, eye, up);
float scale = .30f;
float the = degrees*3.1451/180*scale;
Point pointTowards = Point::normalize(focus-eye);
Point pointAway = pointTowards*-1;
Point oldCenter = eye + pointTowards*distance; //possible to use focus as center?
mat3 axisAngle = rotateMat(the, up);
pointAway = Point::normalize(pointAway*axisAngle);
eye = oldCenter + pointAway*distance;
focus = oldCenter + pointAway*(distance/2.0f);
}
//pitch
void Camera::tilt(float degrees) {
// Point newAxis = Point::cross(up, eye);
// rodriguez_rotate(degrees, eye, newAxis);
// rodriguez_rotate(degrees, up, newAxis);
float scale = .30f;
float the = -degrees*3.1451/180*scale;
Point pointTowards = Point::normalize(focus-eye);
Point pointAway = pointTowards*-1;
Point oldCenter = eye + pointTowards*distance; //possible to use focus as center?
Point axis = Point::normalize(Point::cross(up, pointTowards));
mat3 axisAngle = rotateMat(the, axis);
pointAway = Point::normalize(pointAway*axisAngle);
eye = oldCenter + pointAway*distance;
focus = oldCenter + pointAway*(distance/2.0f);
up = Point::normalize(up*axisAngle);
}
vec3 Transform::forward()
{
return rotateMat() * vec3(0,0,1);
}
vec3 Transform::up()
{
return rotateMat() * vec3(0,1,0);
}
vec3 Transform::left()
{
return rotateMat() * vec3(1,0,0);
}
mat4 Transform::modelMat()
{
return rotateMat() * scaleMat() * translateMat();
}
