File size: 1,620 Bytes
c02f046 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | /*var Vec3 = require('./Vec3');
var Quaternion = require('./Quaternion');
module.exports = Transform;
*/
/**
* @class Transform
* @constructor
*/
function Transform() {
/**
* @property {Vec3} position
*/
this.position = new CANNON.Vec3();
/**
* @property {Quaternion} quaternion
*/
this.quaternion = new CANNON.Quaternion();
}
var tmpQuat = new CANNON.Quaternion();
/**
* @static
* @method pointToLocaFrame
* @param {Vec3} position
* @param {Quaternion} quaternion
* @param {Vec3} worldPoint
* @param {Vec3} result
*/
Transform.pointToLocalFrame = function(position, quaternion, worldPoint, result){
var result = result || new CANNON.Vec3();
worldPoint.vsub(position, result);
quaternion.conjugate(tmpQuat);
tmpQuat.vmult(result, result);
return result;
};
/**
* @static
* @method pointToWorldFrame
* @param {Vec3} position
* @param {Vec3} quaternion
* @param {Vec3} localPoint
* @param {Vec3} result
*/
Transform.pointToWorldFrame = function(position, quaternion, localPoint, result){
var result = result || new CANNON.Vec3();
quaternion.vmult(localPoint, result);
result.vadd(position, result);
return result;
};
Transform.prototype.vectorToWorldFrame = function(localVector, result){
var result = result || new CANNON.Vec3();
this.quaternion.vmult(localVector, result);
return result;
};
Transform.vectorToLocalFrame = function(position, quaternion, worldVector, result){
var result = result || new CANNON.Vec3();
quaternion.w *= -1;
quaternion.vmult(worldVector, result);
quaternion.w *= -1;
return result;
};
|