Changeset 2963 in orxonox.OLD for orxonox

Timestamp:

Nov 23, 2004, 3:44:06 PM (20 years ago)

Author:

bensch

Message:

orxonox/trunk/importer: rotation now with quaternion, BIG BUG fix in the mathematics of my quaternion-calculation

Location:

orxonox/trunk/importer

Files:

• framework.cc (modified) (4 diffs)
• framework.h (modified) (2 diffs)

orxonox/trunk/importer/framework.cc

@@ -21 +21 @@
   glLoadIdentity();     
   gluPerspective(45.0f,500/375,0.1f,dist * 5.0f);
-  gluLookAt (dist* dir.x, dist *dir.y, -dist *dir.z, 0,0,0, 0,1,0);
-
+    gluLookAt (0, dist , dist, 0,0,0, up.x,up.y,up.z);
+
+  glMatrixMode(GL_MODELVIEW);
+  glPushMatrix();
+  //  glRotatef (180, dir.x, dir.y, dir.z);
+  glMultMatrixf (*matQ);
   obj->draw();
+
+  glPopMatrix();
 
   SDL_GL_SwapBuffers(); // Swap the buffers
@@ -56 +62 @@
   rotAxis = Vector (0.0,1.0,0.0);
   rotAngle = 0;
+
+  matQ[0][0] = matQ[1][1] = matQ[2][2] = matQ[3][3] = 1;
   rotQ = Quaternion (rotAngle, rotAxis);
-
+  rotQlast = rotQ;
   dir = Vector (0.0, 0.0, 1.0);
+  up = Vector (0.0, 1.0, 0.0);
 
   glEnable(GL_LIGHTING);
@@ -104 +113 @@
         if (mouse1Down)
           {
-            Vector tmpV (event.button.x, event.button.y, 2.0*sqrt ( (float) event.button.x * event.button.x *event.button.y * event.button.y / (wHandler.screen->h *wHandler.screen->h)));
+            int mX = event.button.x;
+            int mY = event.button.y;
+            int wH = wHandler.screen->h;
+            int wW = wHandler.screen->w;
+            Vector tmpV (mX, mY, sqrt ( (float) abs(wH * wH/4 - (wW/2-mX) * (wW/2-mX) - (wH/2-mY) * (wH/2-mY)) ));
+            //      printf ("tmpV: %f, %f, %f\n", tmpV.x, tmpV.y, tmpV.z);
             p2 = tmpV-M;
-            
             rotAxis = p1.cross(p2);
-            rotAngle = angle_deg (p1, p2)/1000;
-            rotQ = Quaternion (rotAngle, rotAxis);
-            dir = rotQ.apply(dir);
-            dir.normalize();
-            printf ("%f, %f, %f, %f\n", dir.x, dir.y, dir.z, rotAngle);
-
+            //  printf ("rotAxis: %f, %f, %f\n", rotAxis.x, rotAxis.y, rotAxis.z);
+
+            // in case that there is no rotation-axis defined
+            if (rotAxis.x != 0 || rotAxis.y != 0 || rotAxis.z != 0)
+              {
+                rotAxis.normalize();
+                printf ("rotAxis: %f, %f, %f\n", rotAxis.x, rotAxis.y, rotAxis.z, rotAngle);
+                                
+                rotAngle = angle_rad (p1, p2);
+                rotQ = Quaternion (rotAngle, rotAxis);
+                rotQ = rotQ * rotQlast;
+                rotQ.norm();
+                rotQ.matrix (matQ);
+                //      dir = rotQ.apply(dir);
+                //      dir.normalize();
+                //              printf ("rotAxis: %f, %f, %f, %f\n", dir.x, dir.y, dir.z, rotAngle);
+              }
+            rotQlast = rotQ;
             p1 = p2;
+
           }
         break;
@@ -131 +157 @@
           {
             mouse1Down = true;
-            Vector tmpV (event.button.x, event.button.y, 2.0*sqrt ( (float) event.button.x * event.button.x *event.button.y * event.button.y / (wHandler.screen->h *wHandler.screen->h)));
+            int mX = event.button.x;
+            int mY = event.button.y;
+            int wH = wHandler.screen->h;
+            int wW = wHandler.screen->w;
+            Vector tmpV (mX, mY, sqrt ( (float) abs(wH * wH/4 - (wW/2-mX) * (wW/2-mX) - (wH/2-mY) * (wH/2-mY)) ));
             p1 = tmpV-M;
 

orxonox/trunk/importer/framework.h

@@ -18 +18 @@
 
 Vector dir;
+Vector up;
+
+float matQ[4][4];
+
 Vector M;
 Vector p1;
@@ -24 +28 @@
 float rotAngle;
 Quaternion rotQ;
+Quaternion rotQlast;
 
 bool mouse1Down;