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
SGMatrixd getToWorldTransform(const double& t) const
{
- double dt = t - _referenceTime;
- if (0 == dt)
+ if (t == _referenceTime)
return _toWorldReference;
+ double dt = t - _referenceTime;
SGMatrixd matrix(_toWorldReference);
matrix.postMultRotate(SGQuatd::fromAngleAxis(dt*_angularVelocity));
matrix.postMultTranslate(dt*_linearVelocity);
}
SGMatrixd getToLocalTransform(const double& t) const
{
- double dt = _referenceTime - t;
- if (0 == dt)
+ if (t == _referenceTime)
return _toLocalReference;
+ double dt = _referenceTime - t;
SGMatrixd matrix(_toLocalReference);
matrix.preMultRotate(SGQuatd::fromAngleAxis(dt*_angularVelocity));
matrix.preMultTranslate(dt*_linearVelocity);
SGVec3d _angularVelocity;
double _referenceTime;
+ double _startTime;
double _endTime;
Id _id;