RomanNum3ral
/
open_toontown_panda3d
mirror of https://github.com/open-toontown/panda3d.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

add_impact

This commit is contained in:
Dave Schuyler 2006-03-11 06:34:19 +00:00
parent 2fb89f87cd
commit b015f6ff7a
3 changed files with 87 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

55
panda/src/linmath/lquaternion_src.I
View File

@ -315,6 +315,32 @@ get_axis() const {
return FLOATNAME(LVector3)(_v.data[1], _v.data[2], _v.data[3]);
}
////////////////////////////////////////////////////////////////////
// Function: LQuaternion::get_axis
// Access: Public
// Description: This, along with get_angle(), returns the rotation
// represented by the quaternion as an angle about an
// arbitrary axis. This returns the normalized axis.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVector3) FLOATNAME(LQuaternion)::
get_axis_normalized() const {
return FLOATNAME(LVector3)(
_v.data[1], _v.data[2], _v.data[3]).normalize();
}
////////////////////////////////////////////////////////////////////
// Function: LQuaternion::get_angle_rad
// Access: Public
// Description: This, along with get_axis(), returns the rotation
// represented by the quaternion as an angle about an
// arbitrary axis. This returns the angle, in radians
// counterclockwise about the axis.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LQuaternion)::
get_angle_rad() const {
return acos(_v.data[0]) * 2.0;
}
////////////////////////////////////////////////////////////////////
// Function: LQuaternion::get_angle
// Access: Public
@ -325,7 +351,34 @@ get_axis() const {
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LQuaternion)::
get_angle() const {
return rad_2_deg(acos(_v.data[0]) * 2.0);
return rad_2_deg(get_angle_rad());
}
////////////////////////////////////////////////////////////////////
// Function: LQuaternion::set_from_axis_angle_rad
// Access: Public
// Description: angle_rad is the angle about the axis in radians.
// axis must be normalized.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LQuaternion)::
set_from_axis_angle_rad(FLOATTYPE angle_rad, const FLOATNAME(LVector3) &axis) {
nassertv(IS_THRESHOLD_EQUAL(axis.length(), 1.0f, 0.001f));
FLOATTYPE sinHalfAngle = sin(angle_rad * 0.5);
_v.data[0] = cos(angle_rad * 0.5);
_v.data[1] = axis[0] * sinHalfAngle;
_v.data[2] = axis[1] * sinHalfAngle;
_v.data[3] = axis[2] * sinHalfAngle;
}
////////////////////////////////////////////////////////////////////
// Function: LQuaternion::set_from_axis_angle_deg
// Access: Public
// Description: angle_deg is the angle about the axis in degrees.
// axis must be normalized.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LQuaternion)::
set_from_axis_angle(FLOATTYPE angle_deg, const FLOATNAME(LVector3) &axis) {
set_from_axis_angle_rad(deg_2_rad(angle_deg), axis);
}
////////////////////////////////////////////////////////////////////

33
panda/src/linmath/lquaternion_src.h
View File

@ -47,24 +47,30 @@ PUBLISHED:
INLINE_LINMATH FLOATNAME(LQuaternion)
operator - (const FLOATNAME(LQuaternion) &other) const;
INLINE_LINMATH FLOATTYPE angle_rad(const FLOATNAME(LQuaternion) &other) const;
INLINE_LINMATH FLOATTYPE angle_deg(const FLOATNAME(LQuaternion) &other) const;
INLINE_LINMATH FLOATTYPE angle_rad(const FLOATNAME(
LQuaternion) &other) const;
INLINE_LINMATH FLOATTYPE angle_deg(const FLOATNAME(
LQuaternion) &other) const;
INLINE_LINMATH FLOATNAME(LQuaternion) operator * (FLOATTYPE scalar) const;
INLINE_LINMATH FLOATNAME(LQuaternion) operator / (FLOATTYPE scalar) const;
INLINE_LINMATH FLOATNAME(LQuaternion) operator *(const FLOATNAME(LQuaternion) &) const;
INLINE_LINMATH FLOATNAME(LQuaternion)& operator *=(const FLOATNAME(LQuaternion) &);
INLINE_LINMATH FLOATNAME(LQuaternion) operator *(
const FLOATNAME(LQuaternion) &) const;
INLINE_LINMATH FLOATNAME(LQuaternion)& operator *=(
const FLOATNAME(LQuaternion) &);
INLINE_LINMATH FLOATNAME(LMatrix3) operator *(const FLOATNAME(LMatrix3) &);
INLINE_LINMATH FLOATNAME(LMatrix4) operator *(const FLOATNAME(LMatrix4) &);
INLINE_LINMATH bool almost_equal(const FLOATNAME(LQuaternion) &other) const;
INLINE_LINMATH bool almost_equal(const FLOATNAME(LQuaternion) &other,
FLOATTYPE threshold) const;
INLINE_LINMATH bool is_same_direction(const FLOATNAME(LQuaternion) &other) const;
INLINE_LINMATH bool almost_same_direction(const FLOATNAME(LQuaternion) &other,
FLOATTYPE threshold) const;
INLINE_LINMATH bool almost_equal(
const FLOATNAME(LQuaternion) &other) const;
INLINE_LINMATH bool almost_equal(
const FLOATNAME(LQuaternion) &other, FLOATTYPE threshold) const;
INLINE_LINMATH bool is_same_direction(
const FLOATNAME(LQuaternion) &other) const;
INLINE_LINMATH bool almost_same_direction(
const FLOATNAME(LQuaternion) &other, FLOATTYPE threshold) const;
INLINE_LINMATH void output(ostream&) const;
@ -77,8 +83,15 @@ PUBLISHED:
FLOATNAME(LVecBase3) get_hpr(CoordinateSystem cs = CS_default) const;
INLINE_LINMATH FLOATNAME(LVector3) get_axis() const;
INLINE_LINMATH FLOATNAME(LVector3) get_axis_normalized() const;
INLINE_LINMATH FLOATTYPE get_angle_rad() const;
INLINE_LINMATH FLOATTYPE get_angle() const;
INLINE_LINMATH void set_from_axis_angle_rad(
FLOATTYPE angle_rad, const FLOATNAME(LVector3) &axis);
INLINE_LINMATH void set_from_axis_angle(
FLOATTYPE angle_deg, const FLOATNAME(LVector3) &axis);
INLINE_LINMATH FLOATNAME(LVector3) get_up(CoordinateSystem cs = CS_default) const;
INLINE_LINMATH FLOATNAME(LVector3) get_right(CoordinateSystem cs = CS_default) const;
INLINE_LINMATH FLOATNAME(LVector3) get_forward(CoordinateSystem cs = CS_default) const;

19
panda/src/physics/physicsObject.cxx
View File

@ -107,12 +107,9 @@ add_local_impact(const LPoint3f &offset_from_center_of_mass,
const LVector3f &force) {
nassertv(!offset_from_center_of_mass.is_nan());
nassertv(!force.is_nan());
LRotationf torque;
LVector3f impulse;
torque = LRotationf::ident_quat(); // place holder
impulse = LVector3f::zero(); // place holder
add_torque(torque);
add_impulse(impulse);
add_impact(
_orientation.xform(offset_from_center_of_mass),
_orientation.xform(force));
}
////////////////////////////////////////////////////////////////////
@ -131,10 +128,14 @@ add_impact(const LPoint3f &offset_from_center_of_mass,
const LVector3f &force) {
nassertv(!offset_from_center_of_mass.is_nan());
nassertv(!force.is_nan());
LVector3f a = -offset_from_center_of_mass;
LVector3f b = force;
a.normalize();
b.normalize();
float theta = a.dot(b);
LRotationf torque;
LVector3f impulse;
torque = LRotationf::ident_quat(); // place holder
impulse = LVector3f::zero(); // place holder
torque.set_from_axis_angle((1.0f - theta) * a.length(), b.cross(a).normalize());
LVector3f impulse = theta * force;
add_torque(torque);
add_impulse(impulse);
}