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62 lines
2.6 KiB
62 lines
2.6 KiB
13 years ago
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#ifndef Magnum_DebugTools_Implementation_ForceRendererTransformation_h
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#define Magnum_DebugTools_Implementation_ForceRendererTransformation_h
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/*
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Copyright © 2010, 2011, 2012 Vladimír Vondruš <mosra@centrum.cz>
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This file is part of Magnum.
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Magnum is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License version 3
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only, as published by the Free Software Foundation.
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Magnum is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License version 3 for more details.
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*/
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#include "Math/Matrix3.h"
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#include "Math/Matrix4.h"
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#include "Magnum.h"
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#include "DimensionTraits.h"
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namespace Magnum { namespace DebugTools { namespace Implementation {
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template<UnsignedInt dimensions> typename DimensionTraits<dimensions>::MatrixType forceRendererTransformation(const typename DimensionTraits<dimensions>::VectorType& forcePosition, const typename DimensionTraits<dimensions>::VectorType& force);
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template<> inline Matrix3 forceRendererTransformation<2>(const Vector2& forcePosition, const Vector2& force) {
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return Matrix3::from({force, Vector2(-force.y(), force.x())}, forcePosition);
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}
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template<> inline Matrix4 forceRendererTransformation<3>(const Vector3& forcePosition, const Vector3& force) {
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const Matrix4 translation = Matrix4::translation(forcePosition);
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const Float forceLength = force.length();
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/* Zero length, zero scaling */
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if(forceLength < Math::MathTypeTraits<Float>::epsilon())
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return translation*Matrix4::scaling(Vector3(0.0f));
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const Float dot = Vector3::dot(force/forceLength, Vector3::xAxis());
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/* Force is parallel to X axis, just scaling */
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if(dot > 1.0f - Math::MathTypeTraits<Float>::epsilon())
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return translation*Matrix4::scaling(Vector3(forceLength));
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/* Force is antiparallel to X axis, scaling inverted on X */
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if(-dot > 1.0f - Math::MathTypeTraits<Float>::epsilon())
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return translation*Matrix4::scaling({-forceLength, forceLength, forceLength});
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/* Normal of plane going through force vector and X axis vector */
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const Vector3 normal = Vector3::cross(Vector3::xAxis(), force).normalized();
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/* Third base vector, orthogonal to force and normal */
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const Vector3 binormal = Vector3::cross(normal, force).normalized();
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/* Transformation matrix from scaled base vectors and translation vector */
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return Matrix4::from({force, normal*forceLength, binormal*forceLength}, forcePosition);
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}
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}}}
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#endif
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