/// @todo should use a best fit transformation from one set of points to another void TensegrityModel::rotateAndTranslate(tgStructure& childStructure2, std::vector<btVector3>& structure1RefNodes, std::vector<btVector3>& structure2RefNodes) { btVector3 structure1RefNodesCentroid = tgUtil::getCentroid(structure1RefNodes); btVector3 structure2RefNodesCentroid = tgUtil::getCentroid(structure2RefNodes); btVector3 structure1PlaneNormal = ((structure1RefNodes[1] - structure1RefNodes[0]). cross(structure1RefNodes[2] - structure1RefNodes[0])).normalize(); btVector3 structure2PlaneNormal = ((structure2RefNodes[1] - structure2RefNodes[0]). cross(structure2RefNodes[2] - structure2RefNodes[0])).normalize(); // rotate structure 2 to align normals btVector3 fallBackAxis = (structure2RefNodes[1] - structure2RefNodes[0]).normalize(); childStructure2.addRotation(structure2RefNodesCentroid, tgUtil::getQuaternionBetween(structure2PlaneNormal, structure1PlaneNormal, fallBackAxis)); // rotate structure 2 ref nodes tgUtil::addRotation(structure2RefNodes[0], structure2RefNodesCentroid, tgUtil::getQuaternionBetween(structure2PlaneNormal, structure1PlaneNormal, fallBackAxis)); tgUtil::addRotation(structure2RefNodesCentroid, structure2RefNodesCentroid, tgUtil::getQuaternionBetween(structure2PlaneNormal, structure1PlaneNormal, fallBackAxis)); // translate structure 2 to match up centroid points childStructure2.move(structure1RefNodesCentroid - structure2RefNodesCentroid); // translate structure 2 ref nodes structure2RefNodes[0] += structure1RefNodesCentroid - structure2RefNodesCentroid; structure2RefNodesCentroid += structure1RefNodesCentroid - structure2RefNodesCentroid; // rotate structure 2 around structure1PlaneNormal axis to match up node with edge midpoints childStructure2.addRotation(structure1RefNodesCentroid, tgUtil::getQuaternionBetween(structure2RefNodes[0] - structure1RefNodesCentroid, structure1RefNodes[0] - structure1RefNodesCentroid, structure1PlaneNormal)); }
void TensegrityModel::addChildTranslation(tgStructure& childStructure, const Yam& translation) { if (!translation) return; double translationX = translation[0].as<double>(); double translationY = translation[1].as<double>(); double translationZ = translation[2].as<double>(); btVector3 translationVector = btVector3(translationX, translationY, translationZ); childStructure.move(translationVector); }
void TensegrityModel::addChildOffset(tgStructure& childStructure, int offsetIndex, const Yam& offset) { if (!offset) return; double offsetX = offset[0].as<double>(); double offsetY = offset[1].as<double>(); double offsetZ = offset[2].as<double>(); btVector3 offsetVector = btVector3(offsetX, offsetY, offsetZ); childStructure.move(offsetVector * offsetIndex); }
// Nodes: center points of opposing faces of rectangles void CraterDeep::addNodes(tgStructure& s) { const int nBoxes = 4; // Accumulating rotation on boxes btVector3 rotationPoint = origin; btVector3 rotationAxis = btVector3(0, 1, 0); // y-axis double rotationAngle = M_PI/2; addBoxNodes(); addBoxNodes(); addBoxNodes(); addBoxNodes(); for(int i=0;i<nodes.size();i+=2) { s.addNode(nodes[i]); s.addNode(nodes[i+1]); s.addRotation(rotationPoint, rotationAxis, rotationAngle); s.addPair(i, i+1, "box"); } s.move(btVector3(0, -5, 0)); // Sink boxes into the ground }
// Nodes: center points of opposing faces of rectangles void tgCraterDeep::addNodes(tgStructure& s) { #if (0) const int nBoxes = 4; #endif // Suppress compiler warning unused variable // Accumulating rotation on boxes btVector3 rotationPoint = origin; btVector3 rotationAxis = btVector3(0, 1, 0); // y-axis double rotationAngle = M_PI/2; addBoxNodes(); addBoxNodes(); addBoxNodes(); addBoxNodes(); for(std::size_t i=0;i<nodes.size();i+=2) { s.addNode(nodes[i]); s.addNode(nodes[i+1]); s.addRotation(rotationPoint, rotationAxis, rotationAngle); s.addPair(i, i+1, "box"); } s.move(btVector3(0, -5, 0)); // Sink boxes into the ground }