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61 lines
2.6 KiB
61 lines
2.6 KiB
#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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