161 lines
3.3 KiB
C++
161 lines
3.3 KiB
C++
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/*
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* This file is part of libfmr
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*
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* File: TransformationUnit.cpp
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* Author: Florian Heinz <fh@sysv.de>
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*
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* Created on September 9, 2016, 4:54 PM
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//paragraph [1] Title: [{\Large \bf \begin {center}] [\end {center}}]
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//[TOC] [\tableofcontents]
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[1] Implementation of the class ~TransformationUnit~
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[TOC]
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1 Overview
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A TransformationUnit describes the movement of an object over a
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time interval. Movement is a combination of translation and
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rotation. An initial translation and rotation can be specified.
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Parameters:
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c : center point of rotation (relative to the region)
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v0: initial translation
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a0: initial rotation
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v : translation during time interval
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a : rotation during time interval
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iv: time interval
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A Point ~p~ at time ~curtime~ is then transformed to:
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(p.rotate(c, a0) + v0).rotate(c+v0, a*t) + v*t
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where 0 < t < 1 is a fraction of the time interval iv:
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t = (curtime - iv.start)/(iv.end - iv.start)
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*/
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#include <sstream>
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#include <iostream>
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#include "fmr_TransformationUnit.h"
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using namespace fmr;
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/*
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2 Constructor
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Constructs a static transformation unit (no movement).
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*/
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TransformationUnit::TransformationUnit() : a0(0), a(0) {
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}
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/*
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3 Constructor
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Constructs a transformation unit without initial displacement/rotation.
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*/
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TransformationUnit::TransformationUnit(Point c, Point v, double a)
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: c(c), v0(Point(0,0)), v(v), a0(0), a(a) {
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}
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/*
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4 Constructor
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Constructs a transformation unit from all parameters.
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*/
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TransformationUnit::TransformationUnit(Point c, Point v0, Point v, double a0,
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double a, Interval iv) : c(c), v0(v0), v(v), a0(a0), a(a), iv(iv) {}
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/*
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5 Construct from RList
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Construct a TransformationUnit from its RList representation.
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*/
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TransformationUnit::TransformationUnit(RList& l) {
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c = Point(l[0]);
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v0 = Point(l[1]);
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v = Point(l[2]);
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a0 = (double) l[3];
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a = (double) l[4];
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iv = Interval(l[5]);
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}
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/*
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6 ~restrict~
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Create a new TransformationUnit from this one restricted to the
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time interval ~niv~.
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*/
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TransformationUnit TransformationUnit::restrict (Interval niv) {
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double st = ((niv.start - iv.start)/(iv.end - iv.start));
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double et = ((niv.end - iv.start)/(iv.end - iv.start));
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TransformationUnit ret;
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ret.a0 = a0 + a*st;
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ret.v0 = v0 + v*st;
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ret.a = a * (et-st);
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ret.v = v * (et-st);
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ret.c = c + v*st;
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ret.iv = niv;
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return ret;
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}
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/*
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7 ~setCenter~
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Set a new center point for this transformation unit. Start and end position
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of the transformed object remains constant, but the path will change.
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*/
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void TransformationUnit::setCenter(Point& nc) {
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Point delta = nc.rotate(c, a0) - nc;
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v0 = v0 + delta;
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v = v + nc.rotate(c, a) - nc.rotate(c, a0) + delta.rotate(a);
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c = nc;
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}
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/*
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8 ~ToString~
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Return a string representation of this TransformationUnit.
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*/
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std::string TransformationUnit::ToString() {
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std::stringstream ss;
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ss << "( " << c.ToString() << " " << v0.ToString() << " " << v.ToString() <<
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" " << a0 << " " << a << " " << iv.ToString() << " )";
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return ss.str();
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}
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/*
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9 ~toRList~
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Return an RList representation of this TransformationUnit.
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*/
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RList TransformationUnit::toRList() {
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RList ret;
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ret.append(c.toRList());
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ret.append(v0.toRList());
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ret.append(v.toRList());
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ret.append(a0);
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ret.append(a);
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ret.append(iv.toRList());
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return ret;
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}
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