Actor* addAxis1()
{
Actor* actor = new Actor;
TransformComponent* trans = new TransformComponent();
trans->setPos(vec3(5, 0, 5));
Rotation rot;
rot.setQuaternion(quat(vec3(0, 1.57, 0)));
trans->setRotation(rot);
actor->addComponent(trans);
MeshGraphicComponent* mesh = new MeshGraphicComponent(AssetManager::getBasePath() + "Data/Model/axis.obj");
Material *mat = new Material();
mat->setDiffuse("#FF0000");
mesh->addMaterial(mat);
Material *mat1 = new Material();
mat1->setDiffuse("#00FF00");
mesh->addMaterial(mat1);
mesh->addMaterial(mat1);
Material *mat2 = new Material();
mat2->setDiffuse("#0000FF");
mesh->addMaterial(mat2);
actor->addComponent(mesh);
return actor;
}
/*!
* @brief It rotates for the specification of the relative angle.
* @param[in] x-axis rotation weather(i of quaternion complex part)
* @param[in] y-axis rotation weather(j of quaternion complex part)
* @param[in] z-axis rotation weather(k of quaternion complex part)
* @param[in] flag for ansolute / relational (1.0=absolute, else=relational)
*/
void SimObjBase::setAxisAndAngle(double ax, double ay, double az, double angle, double direct)
{
// The angle is used now at the relative angle specification.
if (dynamics()) { return; }
Rotation r;
if (direct != 1.0) r.setQuaternion(qw(), qx(), qy(), qz());
// alculate relational angle
r.setAxisAndAngle(ax, ay, az, angle, direct);
const dReal *q = r.q();
setQ(q);
}
void SParts::calcPosture()
{
assert(isBody());
if (m_children.size() <= 0) { return; }
const dReal *pos = getPosition();
const dReal *q = getQuaternion();
for (ChildC::iterator i=m_children.begin(); i!=m_children.end(); i++) {
Child *child = *i;
Vector3d v(pos[0], pos[1], pos[2]);
Rotation r;
r.setQuaternion(q);
if (child->currj) {
v += child->currj->getAnchor();
}
child->nextp->calcPosition(child->currj, child->nextj, v, r);
}
}