Changeset 3000 in orxonox.OLD for orxonox/trunk/src

Timestamp:

Nov 26, 2004, 8:12:33 PM (20 years ago)

Author:

bensch

Message:

orxonox/trunk: added a Benzier-Class: testing it with the new track-system

Location:

orxonox/trunk/src

Files:

• vector.cc (modified) (1 diff)
• vector.h (modified) (1 diff)

orxonox/trunk/src/vector.cc

@@ -843 +843 @@
   return (n.dot(p) + k);
 }
+
+
+/**
+   \brief Creates a new BenzierCurve
+*/
+BenzierCurve::BenzierCurve (void)
+{
+  nodeCount = 0;
+  firstNode = new PathNode;
+  currentNode = firstNode;
+
+  firstNode->position = Vector (.0, .0, .0);
+  firstNode->number = 0;
+  firstNode->next = 0; // not sure if this really points to NULL!!
+
+  return;
+}
+
+/**
+   \brief Deletes a BenzierCurve.
+   It does this by freeing all the space taken over from the nodes
+*/
+BenzierCurve::~BenzierCurve (void)
+{
+  PathNode* tmpNode;
+  currentNode = firstNode;
+  while (tmpNode != 0)
+    {
+      tmpNode = currentNode;
+      currentNode = currentNode->next;
+      delete tmpNode;
+    }
+}
+
+/**
+   \brief adds a new Node to the benzier Curve
+   \param newNode a Vector to the position of the new node
+*/
+void BenzierCurve::addNode(const Vector& newNode)
+{
+  PathNode* tmpNode;
+  if (nodeCount == 0 )
+    tmpNode = firstNode;
+  else
+    {
+      tmpNode = new PathNode;
+      currentNode = currentNode->next = tmpNode;
+    }
+  tmpNode->position = newNode;
+  tmpNode->next = 0; // not sure if this really points to NULL!!
+  tmpNode->number = (++nodeCount);
+  return;
+}
+
+/**
+   \brief calculates (and does not return) the Position on the curve
+   \param t The position on the Curve (0<=t<=1)
+*/
+void BenzierCurve::calcPos(float t) 
+{
+  if (nodeCount <=4)
+    {
+      //      if (verbose >= 1)
+      //      printf ("Please define at least 4 nodes, until now you have only defined %i.\n", nodeCount);
+      curvePoint = Vector(0,0,0);
+    }
+  PathNode* tmpNode = firstNode;
+    
+  int k,kn,nn,nkn;
+  double blend,muk,munk;
+  Vector b = Vector(0.0,0.0,0.0);
+  
+  muk = 1;
+  munk = pow(1-t,(double)nodeCount);
+  
+  for (k=0; k<=nodeCount; k++) {
+    nn = nodeCount;
+    kn = k;
+    nkn = nodeCount - k;
+    blend = muk * munk;
+    muk *= t;
+    munk /= (1-t);
+    while (nn >= 1) {
+      blend *= nn;
+      nn--;
+      if (kn > 1) {
+        blend /= (double)kn;
+        kn--;
+      }
+      if (nkn > 1) {
+        blend /= (double)nkn;
+        nkn--;
+      }
+    }
+    b.x += tmpNode->position.x * blend;
+    b.y += tmpNode->position.y * blend;
+    b.z += tmpNode->position.z * blend;
+
+    tmpNode = tmpNode->next;
+  }
+  curvePoint = b;
+  return;
+}
+
+/**
+  \brief returns the Position of the point calculated on the Curve
+  \return a Vector to the calculated position
+*/
+Vector BenzierCurve::getPos() const
+{
+  return curvePoint;
+}
+
+/**
+  \brief returns the position of the point on the Curve at position t
+  \param t The position on the Curve (0<=t<=1)
+  \return a Vector to the calculated position
+*/
+Vector BenzierCurve::getPos(float t)
+{
+  calcPos(t);
+  return curvePoint;
+}

orxonox/trunk/src/vector.h

@@ -149 +149 @@
 };
 
+
+
+//! Benzier Curve
+/**
+   Class to handle benzier curves in 3-dimesnsional space
+   
+   needed for  the Tracking system in OrxOnoX.
+*/
+class BenzierCurve
+{
+ private:
+  int nodeCount;
+  Vector curvePoint;
+  
+  struct PathNode
+  {
+    int number;
+    Vector position;
+    PathNode* next;
+  };
+
+  PathNode* firstNode; 
+  PathNode* currentNode; 
+
+ public:
+  BenzierCurve (void);
+  ~BenzierCurve (void);
+  void addNode (const Vector& newNode);
+  void calcPos (float t);
+  
+  Vector getPos () const;
+  Vector getPos (float t);
+};
+
+
+
 #endif