virtual void Evaluate(dEffectorPose& output, dFloat timestep)
{
m_poseGenerator->Evaluate(output, timestep);
dQuaternion rotation (dPitchMatrix(m_euler.m_x) * dYawMatrix(m_euler.m_y) * dRollMatrix(m_euler.m_z));
for (dEffectorPose::dListNode* node = output.GetFirst(); node; node = node->GetNext()) {
dEffectorTransform& transform = node->GetInfo();
transform.m_rotation = transform.m_rotation * rotation;
transform.m_posit = m_position + rotation.RotateVector(transform.m_posit);
}
}
virtual void Evaluate(dEffectorPose& output, dFloat timestep)
{
m_poseGenerator->Evaluate(output, timestep);
dEffectorTransform& transform = output.GetFirst()->GetInfo();
dQuaternion yawRotation (m_azimuthAxis, m_euler.m_y);
transform.m_posit += m_azimuthAxis.Scale (m_position.m_y);
transform.m_posit += m_planeAxis.Scale (m_position.m_z);
transform.m_rotation = transform.m_rotation * yawRotation;
transform.m_posit = yawRotation.RotateVector(transform.m_posit);
transform.m_posit.m_w = 1.0f;
}
virtual void Evaluate(dEffectorPose& output, dFloat timestep)
{
dEffectorTreeFixPose::Evaluate(output, timestep);
dFloat param = m_acc / m_period;
dBigVector left (m_cycle.CurvePoint(param));
dBigVector right (m_cycle.CurvePoint(dMod (param + 0.5f, 1.0f)));
dFloat high[2];
dFloat stride[2];
high[0] = dFloat (left.m_y);
high[1] = dFloat (right.m_y);
stride[0] = dFloat(left.m_x);
stride[1] = dFloat(right.m_x);
int index = 0;
for (dEffectorPose::dListNode* node = output.GetFirst(); node; node = node->GetNext()) {
dEffectorTransform& transform = node->GetInfo();
transform.m_posit.m_y += high[m_sequence[index]];
transform.m_posit.m_x += stride[m_sequence[index]];
index ++;
}
m_acc = dMod(m_acc + timestep, m_period);
}