/usr/include/simgear/bvh/BVHMotionTransform.hxx is in libsimgear-dev 3.0.0-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Library General Public
// License as published by the Free Software Foundation; either
// version 2 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Library General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
#ifndef BVHMotionTransform_hxx
#define BVHMotionTransform_hxx
#include "BVHVisitor.hxx"
#include "BVHNode.hxx"
#include "BVHGroup.hxx"
namespace simgear {
class BVHMotionTransform : public BVHGroup {
public:
BVHMotionTransform();
virtual ~BVHMotionTransform();
virtual void accept(BVHVisitor& visitor);
void setTransform(const BVHMotionTransform& transform);
void setToWorldTransform(const SGMatrixd& transform);
void setToLocalTransform(const SGMatrixd& transform);
void setLinearVelocity(const SGVec3d& linearVelocity)
{ _linearVelocity = linearVelocity; }
const SGVec3d& getLinearVelocity() const
{ return _linearVelocity; }
void setAngularVelocity(const SGVec3d& angularVelocity)
{ _angularVelocity = angularVelocity; }
const SGVec3d& getAngularVelocity() const
{ return _angularVelocity; }
void setReferenceTime(const double& referenceTime)
{ _referenceTime = referenceTime; }
const double& getReferenceTime() const
{ return _referenceTime; }
void setStartTime(const double& startTime)
{ _startTime = startTime; }
const double& getStartTime() const
{ return _startTime; }
void setEndTime(const double& endTime)
{ _endTime = endTime; }
const double& getEndTime() const
{ return _endTime; }
SGMatrixd getToWorldTransform(const double& t) const
{
if (t == _referenceTime)
return _toWorldReference;
double dt = t - _referenceTime;
SGMatrixd matrix(_toWorldReference);
matrix.postMultRotate(SGQuatd::fromAngleAxis(dt*_angularVelocity));
matrix.postMultTranslate(dt*_linearVelocity);
return matrix;
}
SGMatrixd getToLocalTransform(const double& t) const
{
if (t == _referenceTime)
return _toLocalReference;
double dt = _referenceTime - t;
SGMatrixd matrix(_toLocalReference);
matrix.preMultRotate(SGQuatd::fromAngleAxis(dt*_angularVelocity));
matrix.preMultTranslate(dt*_linearVelocity);
return matrix;
}
const SGMatrixd& getToWorldReferenceTransform() const
{ return _toWorldReference; }
const SGMatrixd& getToLocalReferenceTransform() const
{ return _toLocalReference; }
SGVec3d getLinearVelocityAt(const SGVec3d& reference) const
{ return _linearVelocity + cross(_angularVelocity, reference); }
SGSphered sphereToLocal(const SGSphered& sphere, const double& t) const
{
SGMatrixd matrix = getToLocalTransform(t);
SGVec3d center = matrix.xformPt(sphere.getCenter());
double radius = _toLocalAmplification*sphere.getRadius();
return SGSphered(center, radius);
}
void setId(Id id)
{ _id = id; }
Id getId() const
{ return _id; }
private:
virtual SGSphered computeBoundingSphere() const;
void updateAmplificationFactors();
SGMatrixd _toWorldReference;
SGMatrixd _toLocalReference;
double _toWorldAmplification;
double _toLocalAmplification;
SGVec3d _linearVelocity;
SGVec3d _angularVelocity;
double _referenceTime;
double _startTime;
double _endTime;
Id _id;
};
}
#endif
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