Exemple #1
0
Transform3D Transform3D::interpolated(const Transform3D & other, float v) const
{
    Transform3D result;

    result.setOrientation(glm::slerp(m_orientation, other.orientation(), v));
    result.setPosition(glm::mix(m_position, other.position(), v));
    result.setScale(glm::mix(m_scale, other.scale(), v));
    result.setCenter(glm::mix(m_center, other.center(), v));

    return result;
}
Exemple #2
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void Environment3D::worldToPlanner(Transform3D &state) const
{
    MPVec3 pPos = state.getPosition();
    this->worldToPlanner(pPos);
    
    MPQuaternion pRot = state.getRotation();
    this->worldToPlanner(pRot);
    
    state.setPosition(pPos);
    state.setRotation(pRot);
}
Exemple #3
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void Environment3D::plannerToWorld(Transform3D &state) const
{
    MPVec3 wPos = state.getPosition();
    this->plannerToWorld(wPos);
    
    MPQuaternion wRot = state.getRotation();
    this->plannerToWorld(wRot);
    
    state.setPosition(wPos);
    state.setRotation(wRot);
}
Exemple #4
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void ImGuiProperty(Transform3D &transform3D) {
    auto position = transform3D.position();
    auto center = transform3D.center();
    auto scale = transform3D.scale();
    auto orientation = transform3D.orientation();

    if (ImGui::InputFloat3("Position", &position[0]))
        transform3D.setPosition(position);
    if (ImGui::InputFloat3("Center", &center[0]))
        transform3D.setCenter(position);
    if (ImGui::InputFloat("Scale", &scale)) transform3D.setScale(scale);
    if (ImGui::InputFloat4("Orientation", &orientation[0]))
        transform3D.setOrientation(orientation);
}
Exemple #5
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Transform3D Transform3D::atPosition(const glm::vec3 & position)
{
    Transform3D result;
    result.setPosition(position);
    return result;
}