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The Motion Toolkit is a collection of C++ class templates providing basic types for applications involving 3D geometry, kinematics and dynamics of systems composed of rigid bodies. The toolkit contains sample code for "Game Engine Gems 3" - Chapter 10. "Rotational Joint Limits in Quaternion Space".
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README.md

MoTo - Motion Toolkit

MoTo is a software library written in C++ and contains class and function templates that are useful for animation and simulation of rigid bodies. MoTo evolved while being applied in SOLID, the software library for interference detection, as well as numerous other project involving graphics and physics.

A proper set of documentation is still pending, however I would like to give a preview of MoTo's features and peculiarities.

First of all, since MoTo is composed of headers only, there is no need to build and link a library. All class and function templates are fully inlined.

Secondly, MoTo tries to mimic the Cg shader language as much as possible. This shows in the naming of functions, e.g. normalize and saturate, but also in the use of operator*. In MoTo operator* is always component-wise. For algebraic products such as a quaternion or matrix product, MoTo uses an overloaded global mul function. So beware

mt::Matrix3x3<float> a, b, c;
...
c = a * b; // performs a component-wise multiply
c = mul(a, b); // performs a matrix product

Component-wise multiplies of matrix types (operator*) are disabled by default in order to avoid confusion with other matrix libraries where operator* is used as algabraic product. You can enable component-wise products by setting

#define USE_MATRIX_COMP_MULT 1

before including the MoTo header.

There is no dedicated quaternion class. In order to represent a quaternion, simply use mt::Vector4. Again beware

mt::Vector4<float> a, b, c;
...
c = a * b; // performs a component-wise multiply e.g. color modulate
c = mul(a, b); // performs a quaternion product

MoTo has a number of types that do not hold any values but are used to change the behavior of constructors, operators and functions. These are

struct Zero; // The algebraic zero
struct Identity; // The identity for operator "mul"
template <int> struct Unit; // The i-th unit vector

See Algebra.hpp for a definition of these types.

Functions that involve a metric such as distance and normalize are found in Metric.hpp. These function templates use a dot function and are generic for all vector types.

Functions that involve angles such as slerp and euler are found in Trigonometric.hpp.

mt::Vector4 and mt::Matrix4x4 have specializations for float on an ia32 or emt64 (amd64) platform. The specializations are implemented using SSE intrinsics. See Vector4_SSE.hpp and Matrix4x4_SSE.hpp for details.

A dual number class is defined in Dual.hpp. Pluecker coordinates, spatial vectors, and motor algebra requires DualVector3.hpp. Dual quaternions can be created using DualVector4.hpp. See my GDC Europe 2009 presentation Dual Numbers. Simple Math, Easy C++ Coding, and Lots of Tricks for details.

Sample code on how to make use of mt::Dual and other classes can be found in test/moto.

The directory 'jointlimits' holds the sample code accompanying Chapter 10 Rotational Joint Limits in Quaternion Space of Game Engine Gems 3. Please, refer to the source code and chapter for details. Documentation for the jointlimits can be generated using Doxygen + graphpviz.

The accompanying code for my GDC 2019 presentation Understanding and Tracing Numerical Errors in C++ is moto/ErrorTracer.hpp. A sample on how to use the ErrorTracer class can be found in test/moto/NumericalTests.cpp.

Installation

MoTo itself can be readily used. For building consolid, jointlimits, and the unit tests in the test directory you need CMake 2.4 or up. Please, check the CMake documentation on how to generate a MSVC project or makefiles for GCC.

Platforms

MoTo has been tested on the following platforms:

Linux 32-bit/64-bit  gcc 3.4
Win32 32-bit/64-bit	 MSVC 8.0 SP1, 9.0 SP1, 10, 11, 12, 14

Good luck,

Gino van den Bergen www.dtecta.com

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