Matrix44F BaseTransform::space() const
{
Matrix44F s;
s.setTranslation(m_translation);
s.setRotation(rotation());
return s;
}
Matrix44F BaseTransform::space() const
{
Matrix44F s;
s.setTranslation(m_translation);
Matrix33F r = orientation();
s.translate(m_rotatePivotTranslate);
s.translate(m_rotatePivot);
s.translate(r.transform(m_rotatePivot.reversed()));
s.translate(r.transform(m_scalePivotTranslate));
s.translate(r.transform(m_scalePivot));
Vector3F displaceByScaling = m_scalePivot.reversed();
displaceByScaling = displaceByScaling * m_scale;
s.translate(r.transform(displaceByScaling));
Matrix33F scaleMatrix;
*scaleMatrix.m(0, 0) = m_scale.x;
*scaleMatrix.m(1, 1) = m_scale.y;
*scaleMatrix.m(2, 2) = m_scale.z;
r = scaleMatrix * r;
s.setRotation(r);
return s;
}
const Matrix44F Chassis::computeBogieArmOrigin(const float & chassisWidth, const Vector3F & wheelP, const float & l, const float & s, const float & ang) const
{
Matrix44F tm;
tm.rotateX(-ang);
Vector3F p;
p.x = chassisWidth * .5f + s * .5f;
p.y = wheelP.y + l * .5f * sin(ang);
p.z = wheelP.z + l * .5f * cos(ang);
tm.setTranslation(p);
return tm;
}
void MlUVView::drawControlVectors(MlFeather * f)
{
Vector3F baseP(f->baseUV());
GeoDrawer * dr = getDrawer();
glPushMatrix();
Matrix44F s;
s.setTranslation(baseP);
float * quill = f->getQuilly();
Vector3F b, a;
Vector2F *d;
for(short i=0; i <= f->numSegment(); i++) {
dr->useSpace(s);
a.setZero();
d = f->uvDisplaceAt(i, 0);
for(short j = 0; j < 3; j++) {
b = d[j];
dr->arrow(a, a + b);
a += b;
}
a.setZero();
d = f->uvDisplaceAt(i, 1);
for(short j = 0; j < 3; j++) {
b = d[j];
dr->arrow(a, a + b);
a += b;
}
a.setZero();
b.set(0.f, quill[i], 0.f);
if(i<f->numSegment()) dr->arrow(a, b);
s.setTranslation(b);
}
glPopMatrix();
}
const Matrix44F Chassis::bogieArmOrigin(const int & i, bool isLeft) const
{
Matrix44F res;
res.rotateX(-m_torsionBarRestAngle);
Vector3F cen = roadWheelOrigin(i, isLeft);
float d = 1.f;
if(!isLeft) d = -d;
cen.x += -m_trackWidth * .5f * d + m_bogieArmWidth * .7f * d;
cen.z += 0.5f * m_bogieArmLength * cos(m_torsionBarRestAngle);
cen.y += 0.5f * m_bogieArmLength * sin(m_torsionBarRestAngle);
res.setTranslation(cen);
return res;
}
void BaseView::frameAll(const BoundingBox & b)
{
Vector3F eye = b.center();
eye.z = b.getMax(2) + b.distance(0) / hfov() * .55f + 120.f;
setEyePosition(eye);
Matrix44F m;
m.setTranslation(eye);
*cameraSpaceR() = m;
m.inverse();
*cameraInvSpaceR() = m;
setFrustum(1.33f, 1.f, 26.2f, -1.f, -1000.f);
}
void MlUVView::drawBindVectors(MlFeather * f)
{
GeoDrawer * dr = getDrawer();
const Vector3F baseP(f->baseUV());
glPushMatrix();
Matrix44F s;
s.setTranslation(baseP);
float * quill = f->getQuilly();
Vector3F b;
for(short i=0; i < f->numSegment(); i++) {
dr->useSpace(s);
for(short j=0; j < f->numBind(i); j++) {
DeformableFeather::BindCoord *bind = f->getBind(i, j);
dr->arrow(Vector3F(0.f, 0.f, 0.f), bind->_objP * 32.f);
}
b.set(0.f, quill[i], 0.f);
s.setTranslation(b);
}
glPopMatrix();
}
