gadget::LinearSigmoidPositionFilter class Reference

00068 {
00069    // If value is the same, then return immediately
00070    if(newPos == mLastReturnedPos)
00071    { return mLastReturnedPos; }
00072 
00073    const float eps(0.001);         // An epsilon value because of numerical precision as we approach zero difference
00074    float scale_factor(0.0f);
00075    float dist;
00076    gmtl::Vec3f last_returned_trans;
00077    gmtl::Vec3f new_trans;
00078    gmtl::Vec3f trans_diff;
00079 
00080    // Get difference in translation
00081    last_returned_trans = gmtl::makeTrans<gmtl::Vec3f>(mLastReturnedPos);
00082    new_trans = gmtl::makeTrans<gmtl::Vec3f>(newPos);
00083    trans_diff = new_trans-last_returned_trans;
00084    dist = gmtl::length(trans_diff);
00085 
00086    vprDEBUG(vprDBG_ALL, vprDBG_WARNING_LVL)
00087       << "sigmoid: dist: " << dist << std::endl << vprDEBUG_FLUSH;
00088 
00089    // Check max threshold
00090    if(dist > mMaxThreshold)
00091    {
00092       return mLastReturnedPos;      // If outside of threshold, just return old data
00093    }
00094 
00095    // Get scale factor
00096    scale_factor = getScaleFactor(dist);
00097 
00098    if(scale_factor <= eps)
00099    { return mLastReturnedPos; }
00100    else if(scale_factor >= (1.0f-eps))
00101    {
00102       mLastReturnedPos = newPos;
00103       return newPos;
00104    }
00105    else
00106    {
00107       vprDEBUG(vprDBG_ALL, vprDBG_WARNING_LVL)
00108          << "sigmoid: scale_factor: " << scale_factor << std::endl
00109          << vprDEBUG_FLUSH;
00110 
00111       vprASSERT((scale_factor > eps) && (scale_factor < (1.0f-eps)));
00112 
00113       gmtl::Vec3f ret_trans;
00114       gmtl::Matrix44f ret_val;
00115 
00116       ret_trans = last_returned_trans + (trans_diff * scale_factor);
00117 
00118       /*
00119       vprDEBUG(vprDBG_ALL, vprDBG_WARNING_LVL)
00120          << "\tret_trans = last_returned_trans + (trans_diff * scale_factor) -->"
00121          << ret_trans << " = " << last_returned_trans << " + (" << trans_diff
00122          << " * " << scale_factor << " )\n" << vprDEBUG_FLUSH;
00123       */
00124 
00125       // Compute scaled rotation
00126       gmtl::Quatf source_rot, goal_rot, slerp_rot;
00127       gmtl::set( source_rot, mLastReturnedPos );
00128       gmtl::set( goal_rot, newPos );
00129 
00130       // ASSERT: We don't have two identical matrices
00131       gmtl::slerp( slerp_rot, scale_factor, source_rot, goal_rot );
00132       //slerp_rot.slerp( scale_factor,source_rot,goal_rot );    // Transform part way there
00133       gmtl::set( ret_val, slerp_rot );
00134       //ret_val.makeQuaternion( slerp_rot );            // Create the transform matrix to use
00135       //ret_val.setTrans(ret_trans);
00136       gmtl::setTrans(ret_val, ret_trans );
00137 
00138       mLastReturnedPos = ret_val;
00139       return mLastReturnedPos;
00140    }
00141 }

Public Methods
	LinearSigmoidPositionFilter ()
gmtl::Matrix44f	getPos (const gmtl::Matrix44f newPos)
	Gets the position to use>. More...
float	getScaleFactor (const float distance)
	Given a distance, return the scale factor based upon the minDist and maxDist values. More...
void	setMinDist (float val)
float	minDist ()
void	setMaxDist (float val)
float	maxDist ()
void	setMaxThreshold (float val)
float	maxTheshold ()

gadget::LinearSigmoidPositionFilter Class Reference

Public Methods

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation