void TrfmTranslateZ::computeTransform(){
mTransform.setZero();
mTransform(0, 0) = 1.0;
mTransform(1, 1) = 1.0;
mTransform(2, 2) = 1.0;
mTransform(3, 3) = 1.0;
mTransform(A_Z, 3) = mDofs[0]->getValue();
}
void TrfmTranslate::computeTransform(){
mTransform.setZero();
mTransform(0, 0) = 1.0;
mTransform(1, 1) = 1.0;
mTransform(2, 2) = 1.0;
mTransform(3, 3) = 1.0;
for(unsigned int i=0; i<mDofs.size(); i++){
mTransform(i, 3) = mDofs[i]->getValue();
}
}
void TrfmRotateQuat::computeTransform(){
// Quaternion constructor takes (w, x, y, z)
Quaterniond q(mDofs[0]->getValue(), mDofs[1]->getValue(),mDofs[2]->getValue(),mDofs[3]->getValue());
q.normalize();
mTransform.setZero();
Matrix3d rot = q.matrix();
for(int i=0; i<3; i++){
for(int j=0; j<3; j++){
mTransform(i, j) = rot(i, j);
}
}
mTransform(3, 3) = 1.0;
}
void TrfmRotateExpMap::computeTransform(){
Vector3d q(mDofs[0]->getValue(), mDofs[1]->getValue(), mDofs[2]->getValue());
Matrix3d rot = utils::rotation::expMapRot(q);
mTransform.setZero();
mTransform.topLeftCorner(3,3) = rot;
mTransform(3, 3) = 1.0;
}
PointMatcher<float>::TransformationParameters Transform::pmTransform() const {
PointMatcher<float>::TransformationParameters pmTransform =
PointMatcher<float>::TransformationParameters::Identity(4, 4);
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
pmTransform(i, j) = mTransform(i, j);
}
}
return pmTransform;
}
/// \brief
/// Calculates the absolute bounding box for this instance
///
/// \param destBBox
/// Destination box
///
inline void GetBoundingBox(hkvAlignedBBox &destBBox) const
{
m_spModel->EnsureLoaded();
VASSERT(m_spModel->m_LocalBBox.isValid());
destBBox.setInvalid();
//destBBox.Inflate(m_spModel->m_LocalBBox,m_Orientation,m_vPosition);
{
hkvAlignedBBox temp = m_spModel->m_LocalBBox;
hkvMat4 mTransform (m_Orientation, m_vPosition);
temp.transformFromOrigin (mTransform);
destBBox.expandToInclude (temp);
}
}
inline void GetRenderBoundingBox(hkvAlignedBBox &destBBox, const hkvVec3& vOffset) const
{
VASSERT(m_spModel->m_LocalBBox.isValid());
destBBox.setInvalid();
//destBBox.Inflate(m_spModel->m_LocalBBox,m_Orientation,m_vPosition);
{
hkvAlignedBBox temp = m_spModel->m_LocalBBox;
hkvMat4 mTransform (m_Orientation, m_vPosition);
temp.transformFromOrigin (mTransform);
destBBox.expandToInclude (temp);
}
destBBox.m_vMin += vOffset;
destBBox.m_vMax += vOffset;
}
void TrfmRotateEulerX::computeTransform(){
mTransform.setZero();
double cosq = cos(mDofs[0]->getValue());
double sinq = sin(mDofs[0]->getValue());
mTransform(A_X, A_X) = 1.0;
mTransform(A_Y, A_Y) = cosq;
mTransform(A_Y, A_Z) = -sinq;
mTransform(A_Z, A_Y) = sinq;
mTransform(A_Z, A_Z) = cosq;
mTransform(3, 3) = 1.0;
}
//-------------------------------------------------------------------------------
// @ Player::Update()
//-------------------------------------------------------------------------------
// Main update loop
//-------------------------------------------------------------------------------
void
Player::Update( float dt )
{
// get change in transform for this frame
IvMatrix44 scale, rotate, xlate, unxform, rexform;
scale.Identity();
rotate.Identity();
float s = 1.0f;
float r = 0.0f;
float x = 0.0f, y = 0.0f, z = 0.0f;
// set up scaling
if (IvGame::mGame->mEventHandler->IsKeyDown(';'))
{
s -= 0.25f*dt;
}
if (IvGame::mGame->mEventHandler->IsKeyDown('p'))
{
s += 0.25f*dt;
}
scale.Scaling(IvVector3(s, s, s));
// set up rotate
if (IvGame::mGame->mEventHandler->IsKeyDown('o'))
{
r -= kPI*0.25f*dt;
}
if (IvGame::mGame->mEventHandler->IsKeyDown('u'))
{
r += kPI*0.25f*dt;
}
rotate.RotationZ( r );
// set up translation
if (IvGame::mGame->mEventHandler->IsKeyDown('k'))
{
x -= 3.0f*dt;
}
if (IvGame::mGame->mEventHandler->IsKeyDown('i'))
{
x += 3.0f*dt;
}
if (IvGame::mGame->mEventHandler->IsKeyDown('l'))
{
y -= 3.0f*dt;
}
if (IvGame::mGame->mEventHandler->IsKeyDown('j'))
{
y += 3.0f*dt;
}
xlate.Translation( IvVector3(x, y, z) );
// clear transform
if (IvGame::mGame->mEventHandler->IsKeyDown(' '))
{
mTransform.Identity();
}
// append transforms for this frame to current transform
// note order:
// since scale is uniform in this example, we can apply first in transform chain
// then we apply old transform
// then translate center to origin, rotate around origin,
// then retranslate to old position
// then finally, apply new translation
IvVector3 originalXlate( mTransform(0,3), mTransform(1,3), mTransform(2,3) );
unxform.Translation( -originalXlate );
rexform.Translation( originalXlate );
mTransform = xlate*rexform*rotate*unxform*mTransform*scale;
// alternatively, we can save some processing by clearing mTransform's translation
// and adding originalXlate to the new translation. The result would be
// mTransform = xlate*rotate*mTransform*scale;
} // End of Player::Update()