KX_OrientationInterpolator.cpp Source File

00001 #include "KX_OrientationInterpolator.h"
00002 
00003 #include "MT_Matrix3x3.h"
00004 #include "KX_IScalarInterpolator.h"
00005 
00006 void KX_OrientationInterpolator::Execute(float currentTime) const {
00007         MT_Vector3 eul(m_ipos[0]->GetValue(currentTime),
00008                                    m_ipos[1]->GetValue(currentTime),
00009                                    m_ipos[2]->GetValue(currentTime));
00010         MT_Scalar ci = cos(eul[0]); 
00011         MT_Scalar cj = cos(eul[1]); 
00012         MT_Scalar ch = cos(eul[2]);
00013         MT_Scalar si = sin(eul[0]); 
00014         MT_Scalar sj = sin(eul[1]); 
00015         MT_Scalar sh = sin(eul[2]);
00016         MT_Scalar cc = ci*ch; 
00017         MT_Scalar cs = ci*sh; 
00018         MT_Scalar sc = si*ch; 
00019         MT_Scalar ss = si*sh;
00020 
00021         m_target.setValue(cj*ch, sj*sc-cs, sj*cc+ss,
00022                                           cj*sh, sj*ss+cc, sj*cs-sc, 
00023                                             -sj,    cj*si,    cj*ci);
00024 }