ApfelTeeSaft/vb01
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fixed position and orientation transformation methods

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This commit is contained in:
devZoGok
2021-10-19 19:06:41 +03:00
parent e106379f2f
commit de8a6fb1aa
3 changed files with 36 additions and 35 deletions
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node.cpp
+34 -33
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@@ -202,9 +202,19 @@ namespace vb01{
Vector3 Node::localToGlobalPosition(Vector3 localPos){
vector<Node*> ancestors = getAncestors(this);
Vector3 origin = Vector3::VEC_ZERO;
Quaternion quat;
adjustPosOrRot(ancestors, origin, quat, true);
while(!ancestors.empty()){
int id=ancestors.size()-1;
Node *par=ancestors[id]->getParent();
Vector3 parAxis[]={
par?par->getGlobalAxis(0):Vector3::VEC_I,
par?par->getGlobalAxis(1):Vector3::VEC_J,
par?par->getGlobalAxis(2):Vector3::VEC_K
};
Vector3 p=ancestors[id]->getPosition();
origin=origin+parAxis[0]*p.x+parAxis[1]*p.y+parAxis[2]*p.z;
ancestors.pop_back();
}
return origin + globalAxis[0] * localPos.x + globalAxis[1] * localPos.y + globalAxis[2] * localPos.z;
}
@@ -226,29 +236,8 @@ namespace vb01{
return Vector3(local.x, local.y, local.z);
}
Quaternion Node::localToGlobalOrientation(Quaternion localRot){
Vector3 vec;
Quaternion origin = Quaternion::QUAT_W;
vector<Node*> ancestors = getAncestors(this);
adjustPosOrRot(ancestors, vec, origin, true);
return localRot * origin;
}
Quaternion Node::globalToLocalOrientation(Quaternion globalRot){
Vector3 vec;
Quaternion origin = globalRot;
vector<Node*> ancestors = getAncestors(this);
adjustPosOrRot(ancestors, vec, origin, false);
return origin;
}
void Node::adjustPosOrRot(vector<Node*> ancestors, Vector3 &adjustablePos, Quaternion &adjustableRot, bool localToGlobal){
Vector3 pOrigin = Vector3::VEC_ZERO;
Quaternion rOrigin = Quaternion::QUAT_W;
Quaternion Node::adjustRot(vector<Node*> ancestors, Quaternion adjustableRot, bool localToGlobal){
Quaternion rOrigin = localToGlobal ? Quaternion::QUAT_W : adjustableRot;
while(!ancestors.empty()){
int id = ancestors.size() - 1;
@@ -258,9 +247,6 @@ namespace vb01{
ancestors[id]->getGlobalAxis(2)
};
Vector3 p = ancestors[id]->getPosition();
pOrigin = pOrigin + parAxis[0] * p.x + parAxis[1] * p.y + parAxis[2] * p.z;
float angle = ancestors[id]->getOrientation().getAngle();
Vector3 axis = ancestors[id]->getOrientation().getAxis();
Vector3 rotAxis = (parAxis[0] * axis.x + parAxis[1] * axis.y + parAxis[2] * axis.z).norm();
@@ -268,18 +254,33 @@ namespace vb01{
Quaternion o;
if(localToGlobal){
o = Quaternion(angle, rotAxis);
rOrigin = rOrigin * o;
rOrigin = o * rOrigin;
}
else{
o = Quaternion(-angle, rotAxis);
rOrigin = o * rOrigin;
rOrigin = rOrigin * o;
}
ancestors.pop_back();
}
adjustablePos = pOrigin;
adjustableRot = rOrigin;
return rOrigin;
}
Quaternion Node::localToGlobalOrientation(Quaternion localRot){
vector<Node*> ancestors = getAncestors(this);
Quaternion origin = adjustRot(ancestors, Quaternion::QUAT_W, true);
return localRot * origin;
}
Quaternion Node::globalToLocalOrientation(Quaternion globalRot){
vector<Node*> ancestors = getAncestors(this);
Quaternion origin = adjustRot(ancestors, globalRot, false);
return origin;
}
void Node::updateShaders(){