/// @todo should use a best fit transformation from one set of points to another
void TensegrityModel::rotateAndTranslate(tgStructure& childStructure2,
std::vector<btVector3>& structure1RefNodes, std::vector<btVector3>& structure2RefNodes) {
btVector3 structure1RefNodesCentroid = tgUtil::getCentroid(structure1RefNodes);
btVector3 structure2RefNodesCentroid = tgUtil::getCentroid(structure2RefNodes);
btVector3 structure1PlaneNormal = ((structure1RefNodes[1] - structure1RefNodes[0]).
cross(structure1RefNodes[2] - structure1RefNodes[0])).normalize();
btVector3 structure2PlaneNormal = ((structure2RefNodes[1] - structure2RefNodes[0]).
cross(structure2RefNodes[2] - structure2RefNodes[0])).normalize();
// rotate structure 2 to align normals
btVector3 fallBackAxis = (structure2RefNodes[1] - structure2RefNodes[0]).normalize();
childStructure2.addRotation(structure2RefNodesCentroid,
tgUtil::getQuaternionBetween(structure2PlaneNormal, structure1PlaneNormal, fallBackAxis));
// rotate structure 2 ref nodes
tgUtil::addRotation(structure2RefNodes[0], structure2RefNodesCentroid,
tgUtil::getQuaternionBetween(structure2PlaneNormal, structure1PlaneNormal, fallBackAxis));
tgUtil::addRotation(structure2RefNodesCentroid, structure2RefNodesCentroid,
tgUtil::getQuaternionBetween(structure2PlaneNormal, structure1PlaneNormal, fallBackAxis));
// translate structure 2 to match up centroid points
childStructure2.move(structure1RefNodesCentroid - structure2RefNodesCentroid);
// translate structure 2 ref nodes
structure2RefNodes[0] += structure1RefNodesCentroid - structure2RefNodesCentroid;
structure2RefNodesCentroid += structure1RefNodesCentroid - structure2RefNodesCentroid;
// rotate structure 2 around structure1PlaneNormal axis to match up node with edge midpoints
childStructure2.addRotation(structure1RefNodesCentroid,
tgUtil::getQuaternionBetween(structure2RefNodes[0] - structure1RefNodesCentroid,
structure1RefNodes[0] - structure1RefNodesCentroid, structure1PlaneNormal));
}
void TensegrityModel::addChildTranslation(tgStructure& childStructure, const Yam& translation) {
if (!translation) return;
double translationX = translation[0].as<double>();
double translationY = translation[1].as<double>();
double translationZ = translation[2].as<double>();
btVector3 translationVector = btVector3(translationX, translationY, translationZ);
childStructure.move(translationVector);
}
void TensegrityModel::addChildOffset(tgStructure& childStructure, int offsetIndex, const Yam& offset) {
if (!offset) return;
double offsetX = offset[0].as<double>();
double offsetY = offset[1].as<double>();
double offsetZ = offset[2].as<double>();
btVector3 offsetVector = btVector3(offsetX, offsetY, offsetZ);
childStructure.move(offsetVector * offsetIndex);
}
// Nodes: center points of opposing faces of rectangles
void CraterDeep::addNodes(tgStructure& s) {
const int nBoxes = 4;
// Accumulating rotation on boxes
btVector3 rotationPoint = origin;
btVector3 rotationAxis = btVector3(0, 1, 0); // y-axis
double rotationAngle = M_PI/2;
addBoxNodes();
addBoxNodes();
addBoxNodes();
addBoxNodes();
for(int i=0;i<nodes.size();i+=2) {
s.addNode(nodes[i]);
s.addNode(nodes[i+1]);
s.addRotation(rotationPoint, rotationAxis, rotationAngle);
s.addPair(i, i+1, "box");
}
s.move(btVector3(0, -5, 0)); // Sink boxes into the ground
}
// Nodes: center points of opposing faces of rectangles
void tgCraterDeep::addNodes(tgStructure& s) {
#if (0)
const int nBoxes = 4;
#endif // Suppress compiler warning unused variable
// Accumulating rotation on boxes
btVector3 rotationPoint = origin;
btVector3 rotationAxis = btVector3(0, 1, 0); // y-axis
double rotationAngle = M_PI/2;
addBoxNodes();
addBoxNodes();
addBoxNodes();
addBoxNodes();
for(std::size_t i=0;i<nodes.size();i+=2) {
s.addNode(nodes[i]);
s.addNode(nodes[i+1]);
s.addRotation(rotationPoint, rotationAxis, rotationAngle);
s.addPair(i, i+1, "box");
}
s.move(btVector3(0, -5, 0)); // Sink boxes into the ground
}
