Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

source: orxonox.OLD/orxonox/trunk/src/curve.cc @ 3312

Last change on this file since 3312 was 3217, checked in by bensch, 20 years ago

orxonox/trunk: copied Curve-class from branches/bezierCurve. The only really useable Class from there.

File size: 3.7 KB
Line 
1/*
2   orxonox - the future of 3D-vertical-scrollers
3
4   Copyright (C) 2004 orx
5
6   This program is free software; you can redistribute it and/or modify
7   it under the terms of the GNU General Public License as published by
8   the Free Software Foundation; either version 2, or (at your option)
9   any later version.
10
11   ### File Specific:
12   main-programmer: Benjamin Grauer
13   co-programmer: ...
14
15   TODO:
16     local-Time implementation
17     closed Bezier Curve
18     NURBS
19     
20*/
21
22#include "curve.h"
23
24
25
26/**
27   \brief adds a new Node to the bezier Curve
28   \param newNode a Vector to the position of the new node
29*/
30void Curve::addNode(const Vector& newNode)
31{
32  if (nodeCount != 0 )
33    {
34      currentNode = currentNode->next = new PathNode;
35    }
36  currentNode->position = newNode;
37  currentNode->next = 0; // not sure if this really points to NULL!!
38  currentNode->number = (++nodeCount);
39  return;
40}
41
42
43/**
44   \brief Creates a new BezierCurve
45*/
46BezierCurve::BezierCurve (void)
47{
48  nodeCount = 0;
49  firstNode = new PathNode;
50  currentNode = firstNode;
51
52  firstNode->position = Vector (.0, .0, .0);
53  firstNode->number = 0;
54  firstNode->next = 0; // not sure if this really points to NULL!!
55
56  return;
57}
58
59/**
60   \brief Deletes a BezierCurve.
61
62   It does this by freeing all the space taken over from the nodes
63*/
64BezierCurve::~BezierCurve (void)
65{
66  PathNode* tmpNode;
67  currentNode = firstNode;
68  while (tmpNode != 0)
69    {
70      tmpNode = currentNode;
71      currentNode = currentNode->next;
72      delete tmpNode;
73    }
74}
75
76/**
77   \brief calculates the Position on the curve
78   \param t The position on the Curve (0<=t<=1)
79   \return the Position on the Path
80*/
81Vector BezierCurve::calcPos(float t) 
82{
83  if (nodeCount <=4)
84    {
85      //      if (verbose >= 1)
86      //      printf ("Please define at least 4 nodes, until now you have only defined %i.\n", nodeCount);
87      return Vector(0,0,0);
88    }
89  PathNode* tmpNode = firstNode;
90   
91  Vector ret = Vector(0.0,0.0,0.0);
92  double factor;
93  int k=0;
94  while(tmpNode!=0)
95    {
96      k++;
97      factor = ncr (nodeCount, k);
98     
99      for (int j=0; j<nodeCount-k; j++)
100        factor*=(1-t);
101      for (int j=0; j<k; j++)
102        factor*=t;
103      ret.x += factor * tmpNode->position.x;
104      ret.y += factor * tmpNode->position.y;
105      ret.z += factor * tmpNode->position.z;
106     
107      tmpNode = tmpNode->next;
108
109    }
110  return ret;
111}
112
113/**
114   \brief Calulates the direction of the Curve at time t.
115   \param The time at which to evaluate the curve.
116   \returns The vvaluated Vector.
117*/
118Vector BezierCurve::calcDir (float t)
119{
120  PathNode* tmpNode = firstNode;
121  BezierCurve* tmpCurve = new BezierCurve();
122  Vector ret;
123  Vector tmpVector;
124
125  while (tmpNode->next != 0)
126    {
127      tmpVector = (tmpNode->next->position)- (tmpNode->position);
128      tmpVector.x*=(float)nodeCount;
129      tmpVector.y*=(float)nodeCount;
130      tmpVector.z*=(float)nodeCount;
131
132      tmpCurve->addNode(tmpVector);
133      tmpNode = tmpNode->next;
134    }
135  ret = tmpCurve->calcPos(t);
136  ret.normalize();
137
138  return ret;
139}
140
141/**
142   \brief Calculates the Quaternion needed for our rotations
143   \param t The time at which to evaluate the cuve.
144   \returns The evaluated Quaternion.
145*/
146Quaternion BezierCurve::calcQuat (float t)
147{
148  return Quaternion (calcDir(t), Vector(0,0,1));
149}
150
151
152/**
153  \brief returns the Position of the point calculated on the Curve
154  \return a Vector to the calculated position
155*/
156Vector BezierCurve::getPos() const
157{
158  return curvePoint;
159}
160
161/**
162   \brief ncr-calculator, did not find an other method
163   \todo a c++ variante to do this
164*/
165int ncr(int n, int i)
166{
167  int ret = 1;
168  for (int k=1; k<=n; k++)
169    ret*=k;
170  for (int k=1; k<=i; k++)
171    ret/=k;
172  for (int k=1; k<=n-i; k++)
173    ret/=k;
174
175  return ret;
176}
177
Note: See TracBrowser for help on using the repository browser.