collision_checking::InterpMotion Class Reference

Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity. More...

#include <conservative_advancement.h>

Classes
struct	SimpleQuaternion
	Quaternion used locally by InterpMotion. More...
struct	SimpleTransform
	Simple transform class used locally by InterpMotion. More...
Public Member Functions
SimpleQuaternion	absoluteRotation (BVH_REAL t) const
BVH_REAL	computeMotionBound (const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &n) const
	Compute the motion bound for a triangle, given the closest direction n between two query objects according to mu < \|v * \| + \|\|w x n\|\|(max\|\|ci\|\|) where \|\|ci\|\| = \|\|ci x w\|\|. w is the angular axis (normalized) and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame).
BVH_REAL	computeMotionBound (const RSS &bv, const Vec3f &n) const
	Compute the motion bound for a bounding volume, given the closest direction n between two query objects according to mu < \|v * n\| + \|\|w x n\|\|(r + max(\|\|ci\|\|)) where \|\|ci\|\| = \|\|ci x w\|\|. w is the angular axis (normalized) and ci are the endpoints of the generator primitives of RSS. Notice that all bv parameters are in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame).
void	computeVelocity ()
SimpleQuaternion	deltaRotation (BVH_REAL t) const
void	getCurrentTransformation (Vec3f R[3], Vec3f &T) const
	Get the rotation and translation in current step.
bool	integrate (double dt)
	Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision.
	InterpMotion (const Vec3f R1[3], const Vec3f &T1, const Vec3f R2[3], const Vec3f &T2, const Vec3f &O)
	Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center.
	InterpMotion (const Vec3f R1[3], const Vec3f &T1, const Vec3f R2[3], const Vec3f &T2)
	Construct motion from the initial rotation/translation and goal rotation/translation.
	InterpMotion ()
Public Attributes
Vec3f	angular_axis
	Angular velocity axis.
BVH_REAL	angular_vel
	Angular speed.
Vec3f	linear_vel
	Linear velocity.
SimpleTransform	t
	The transformation at current time t.
SimpleTransform	t1
	The transformation at time 0.
SimpleTransform	t2
	The transformation at time 1.

Detailed Description

Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity.

Definition at line 53 of file conservative_advancement.h.

Constructor & Destructor Documentation

collision_checking::InterpMotion::InterpMotion ( ) [inline]

Default transformations are all identities

Default angular velocity is zero

Default linear velocity is zero

Definition at line 145 of file conservative_advancement.h.

collision_checking::InterpMotion::InterpMotion	(	const Vec3f	R1[3],
		const Vec3f &	T1,
		const Vec3f	R2[3],
		const Vec3f &	T2
	)			`[inline]`

Construct motion from the initial rotation/translation and goal rotation/translation.

Current time is zero, so the transformation is t1

Compute the velocities for the motion

Definition at line 155 of file conservative_advancement.h.

collision_checking::InterpMotion::InterpMotion	(	const Vec3f	R1[3],
		const Vec3f &	T1,
		const Vec3f	R2[3],
		const Vec3f &	T2,
		const Vec3f &	O
	)			`[inline]`

Construct motion from the initial rotation/translation and goal rotation/translation related to some rotation center.

Compute the velocities for the motion

Definition at line 170 of file conservative_advancement.h.

Member Function Documentation

SimpleQuaternion collision_checking::InterpMotion::absoluteRotation ( BVH_REAL t ) const [inline]

Definition at line 237 of file conservative_advancement.h.

BVH_REAL collision_checking::InterpMotion::computeMotionBound	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c,
		const Vec3f &	n
	)			const

Compute the motion bound for a triangle, given the closest direction n between two query objects according to mu < |v * | + ||w x n||(max||ci*||) where ||ci*|| = ||ci x w||. w is the angular axis (normalized) and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame).

Definition at line 217 of file conservative_advancement.cpp.

BVH_REAL collision_checking::InterpMotion::computeMotionBound	(	const RSS &	bv,
		const Vec3f &	n
	)			const

Compute the motion bound for a bounding volume, given the closest direction n between two query objects according to mu < |v * n| + ||w x n||(r + max(||ci*||)) where ||ci*|| = ||ci x w||. w is the angular axis (normalized) and ci are the endpoints of the generator primitives of RSS. Notice that all bv parameters are in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame).

Definition at line 197 of file conservative_advancement.cpp.

void collision_checking::InterpMotion::computeVelocity ( ) [inline]

Definition at line 223 of file conservative_advancement.h.

SimpleQuaternion collision_checking::InterpMotion::deltaRotation ( BVH_REAL t ) const [inline]