//-------------------------------------------------------------------------- void game::getMatrix( GLfloat * m, ofQuaternion quat ) { float x2 = quat.x() * quat.x(); float y2 = quat.y() * quat.y(); float z2 = quat.z() * quat.z(); float xy = quat.x() * quat.y(); float xz = quat.x() * quat.z(); float yz = quat.y() * quat.z(); float wx = quat.w() * quat.x(); float wy = quat.w() * quat.y(); float wz = quat.w() * quat.z(); m[0] = 1.0f - 2.0f * (y2 + z2); m[1] = 2.0f * (xy - wz); m[2] = 2.0f * (xz + wy); m[3] = 0.0f; m[4] = 2.0f * (xy + wz); m[5] = 1.0f - 2.0f * (x2 + z2); m[6] = 2.0f * (yz - wx); m[7] = 0.0f; m[8] = 2.0f * (xz - wy); m[9] = 2.0f * (yz + wx); m[10] = 1.0f - 2.0f * (x2 + y2); m[11] = 0.0f; m[12] = 0.0f; m[13] = 0.0f; m[14] = 0.0f; m[15] = 1.0f; }
//------------------------------------------------------------ void Hammer::setRotation(ofQuaternion rotation){ btTransform transform; btRigidBody* rigidBody = body.getRigidBody(); rigidBody->getMotionState()->getWorldTransform( transform ); btQuaternion originRot; originRot.setX(rotation.x()); originRot.setY(rotation.y()); originRot.setZ(rotation.z()); originRot.setW(rotation.w()); transform.setRotation(originRot); rigidBody->getMotionState()->setWorldTransform( transform ); }
ofQuaternion testApp::lerpQuat(float t, ofQuaternion qa, ofQuaternion qb) { ofQuaternion qm; //dot product float cosHalfTheta = qa.w() * qb.w() + qa.x() * qb.x() + qa.y() * qb.y() + qa.z() * qb.z(); if (abs(cosHalfTheta) >= 1.0) { return qa; } else { // Calculate temporary values. float halfTheta = acos(cosHalfTheta); float sinHalfTheta = sqrt(1.0 - cosHalfTheta*cosHalfTheta); // if theta = 180 degrees then result is not fully defined // we could rotate around any axis normal to qa or qb if (fabs(sinHalfTheta) < 0.001){ // fabs is floating point absolute qm.set( (qa.x() * 0.5 + qb.x() * 0.5), (qa.y() * 0.5 + qb.y() * 0.5), (qa.z() * 0.5 + qb.z() * 0.5), (qa.w() * 0.5 + qb.w() * 0.5) ); return qm; } float ratioA = sin((1 - t) * halfTheta) / sinHalfTheta; float ratioB = sin(t * halfTheta) / sinHalfTheta; //calculate Quaternion qm.set( (qa.x() * ratioA + qb.x() * ratioB), (qa.y() * ratioA + qb.y() * ratioB), (qa.z() * ratioA + qb.z() * ratioB), (qa.w() * ratioA + qb.w() * ratioB) ); return qm; } }
//-------------------------------------------------------------- void ofxBulletCapsule::create( btDiscreteDynamicsWorld* a_world, ofVec3f a_loc, ofQuaternion a_rot, float a_mass, float a_radius, float a_height ) { btTransform tr = ofGetBtTransformFromVec3f( a_loc ); tr.setRotation( btQuaternion(btVector3(a_rot.x(), a_rot.y(), a_rot.z()), a_rot.w()) ); create( a_world, tr, a_mass, a_radius, a_height ); }
string ofxToString(ofQuaternion q) { return ofToString(q.x()) + "," + ofToString(q.y()) + "," + ofToString(q.z()) + "," + ofToString(q.w()); }