Changeset 3802 in orxonox.OLD for orxonox

Timestamp:

Apr 13, 2005, 7:20:38 PM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: some more performance tweaks on PNode: making arguments const, functions also if possible. regrouping code to speedup perfomance

Location:

orxonox/trunk/src/lib/coord

Files:

• p_node.cc (modified) (7 diffs)
• p_node.h (modified) (3 diffs)

orxonox/trunk/src/lib/coord/p_node.cc

@@ -117 +117 @@
   this->relDirection = new Quaternion();
   this->lastAbsCoordinate = new Vector();
+  this->diffCoordinate = new Vector();
 }
 
@@ -147 +148 @@
    change it unless you realy know what you are doing.
 */
-Vector* PNode::getRelCoor ()
+Vector* PNode::getRelCoor () const
 {
   //Vector r = *this->relCoordinate; /* return a copy, so it can't be modified */
@@ -188 +189 @@
    \returns absolute coordinates from (0,0,0)
 */
-Vector PNode::getAbsCoor ()
+Vector PNode::getAbsCoor () const
 {
   return *this->absCoordinate;
@@ -299 +300 @@
    \returns relative direction to its parent
 */
-Quaternion PNode::getRelDir ()
+Quaternion PNode::getRelDir () const
 {
   return *this->relDirection;
@@ -331 +332 @@
    \returns absolute coordinates
 */
-Quaternion PNode::getAbsDir ()
+Quaternion PNode::getAbsDir () const
 {
   return *this->absDirection;
@@ -390 +391 @@
    \todo implement this
 */
-void PNode::shiftDir (Quaternion* shift)
-{}
+void PNode::shiftDir (const Quaternion& shift)
+{
+  this->bRelDirChanged = true;
+  *this->relDirection = *this->relDirection * shift;
+}
 
 
@@ -422 +426 @@
    \brief this calculates the current movement speed of the node
 */
-float PNode::getSpeed()
+float PNode::getSpeed() const
 {
   __UNLIKELY_IF( this->time == 0)
     return 1000;
-  Vector diff;
-  diff = *this->absCoordinate - *this->lastAbsCoordinate;
-  float x = diff.len();
-  return x / this->time;
-}
-
-
-/**
-   \brief adds a child and makes this node to a parent
-   \param pNode child reference
-
-   use this to add a child to this node.
-*/
-void PNode::addChild (PNode* pNode)
-{
-  this->addChild(pNode, DEFAULT_MODE);
+  *this->diffCoordinate = *this->absCoordinate - *this->lastAbsCoordinate;
+  return this->diffCoordinate->len() / this->time;
 }
 

orxonox/trunk/src/lib/coord/p_node.h

@@ -57 +57 @@
 
 
-  Vector* getRelCoor ();
+  Vector* getRelCoor () const;
   void setRelCoor (Vector* relCoord);
   void setRelCoor (Vector relCoord);
-  Vector getAbsCoor ();
+  Vector getAbsCoor () const;
   void setAbsCoor (Vector* absCoord);
   void setAbsCoor (Vector absCoord);
@@ -67 +67 @@
   //void shiftCoor (Vector shift);
 
-  Quaternion getRelDir ();
+  Quaternion getRelDir () const;
   void setRelDir (Quaternion* relDir);
   void setRelDir (Quaternion relDir);
-  Quaternion getAbsDir ();
+  Quaternion getAbsDir () const;
   void setAbsDir (Quaternion* absDir);
   void setAbsDir (Quaternion absDir);
-  void shiftDir (Quaternion* shift);
+  void shiftDir (const Quaternion& shift);
   void shiftDir (Quaternion shift);
 
-  float getSpeed();
+  float getSpeed() const;
 
-  void addChild (PNode* pNode);
-  void addChild (PNode* pNode, int parentingMode);
+  void addChild (PNode* pNode, int parentingMode = DEFAULT_MODE);
   void removeChild (PNode* pNode);
   void remove();
@@ -118 +117 @@
 
   Vector* lastAbsCoordinate; //!< this is used for speedcalculation, it stores the last coordinate
+  Vector* diffCoordinate;    //!< this is stored here for performance reasons, difference to the last vector
   float time;                //!< time since last update
 };