Changeset 3822 in orxonox.OLD for orxonox/trunk

Timestamp:

Apr 14, 2005, 1:05:07 AM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: quaternion functions inlined

Location:

orxonox/trunk/src/lib/math

Files:

• vector.cc (modified) (8 diffs)
• vector.h (modified) (1 diff)

orxonox/trunk/src/lib/math/vector.cc

@@ -185 +185 @@
         \brief creates a multiplicational identity Quaternion
 */
-Quaternion::Quaternion ()
-{
-        w = 1;
-        v = Vector(0,0,0);
-}
+//Quaternion::Quaternion ()
+
 
 /**
@@ -196 +193 @@
         \param axis: the axis to rotate around
 */
-Quaternion::Quaternion (float angle, const Vector& axis)
-{
-        w = cos(angle/2);
-        v = axis * sin(angle/2);
-}
+//Quaternion::Quaternion (float angle, const Vector& axis)
+
 
 /**
@@ -281 +275 @@
 Quaternion Quaternion::operator*(const Quaternion& q) const
 {
-        float A, B, C, D, E, F, G, H;
-        Quaternion r;
-        
-        A = (w   + v.x)*(q.w   + q.v.x);
-        B = (v.z - v.y)*(q.v.y - q.v.z);
-        C = (w   - v.x)*(q.v.y + q.v.z); 
-        D = (v.y + v.z)*(q.w   - q.v.x);
-        E = (v.x + v.z)*(q.v.x + q.v.y);
-        F = (v.x - v.z)*(q.v.x - q.v.y);
-        G = (w   + v.y)*(q.w   - q.v.z);
-        H = (w   - v.y)*(q.w   + q.v.z);
-        
-        r.w = B +  (-E - F + G + H)/2;
-        r.v.x = A - (E + F + G + H)/2; 
-        r.v.y = C + (E - F + G - H)/2; 
-        r.v.z = D + (E - F - G + H)/2;
-        
-        return r;
-}
-
-/**
-        \brief add two Quaternions
-        \param q: another Quaternion
-        \return the sum of both Quaternions
-*/
+  float A, B, C, D, E, F, G, H;
+  
+  A = (w   + v.x)*(q.w   + q.v.x);
+  B = (v.z - v.y)*(q.v.y - q.v.z);
+  C = (w   - v.x)*(q.v.y + q.v.z); 
+  D = (v.y + v.z)*(q.w   - q.v.x);
+  E = (v.x + v.z)*(q.v.x + q.v.y);
+  F = (v.x - v.z)*(q.v.x - q.v.y);
+  G = (w   + v.y)*(q.w   - q.v.z);
+  H = (w   - v.y)*(q.w   + q.v.z);
+  
+  return Quaternion(Vector(A - (E + F + G + H)/2, C + (E - F + G - H)/2, D + (E - F - G + H)/2), B +  (-E - F + G + H)/2);
+}
+
+/**
+   \brief add two Quaternions
+   \param q: another Quaternion
+   \return the sum of both Quaternions
+*/
+/*
 Quaternion Quaternion::operator+(const Quaternion& q) const
 {
@@ -313 +302 @@
   return r;
 }
+*/
 
 /**
@@ -319 +309 @@
    \return the difference of both Quaternions
 */
+/*
 Quaternion Quaternion::operator- (const Quaternion& q) const
 {
@@ -326 +317 @@
   return r;
 }
+*/
 
 /**
@@ -332 +324 @@
    \return a new Vector representing v rotated by the Quaternion
 */
+
 Vector Quaternion::apply (Vector& v) const
 {
@@ -339 +332 @@
   q = *this * q * conjugate();
   return q.v;
-}
+  }
 
 /**

orxonox/trunk/src/lib/math/vector.h

@@ -69 +69 @@
   float w;        //!< Real part of the number
   
-  Quaternion ();
+  inline Quaternion () { w = 1; v = Vector(0,0,0); }
+  inline Quaternion (const Vector& b, float a) { w = a; v = b; }
   Quaternion (float m[4][4]);
-  Quaternion (float angle, const Vector& axis);
+  inline Quaternion (float angle, const Vector& axis) { w = cos(angle/2); v = axis * sin(angle/2); }
   Quaternion (const Vector& dir, const Vector& up);
   Quaternion (float roll, float pitch, float yaw);
-  
   Quaternion operator/ (const float& f) const;
   Quaternion operator* (const float& f) const;
   Quaternion operator* (const Quaternion& q) const;
-  Quaternion operator+ (const Quaternion& q) const;
-  Quaternion operator- (const Quaternion& q) const;
+  inline Quaternion operator+ (const Quaternion& q) const { return Quaternion(q.v + v, q.w + w); }
+  inline Quaternion operator- (const Quaternion& q) const { return Quaternion(q.v - v, q.w - w); }
   Quaternion conjugate () const;
   Quaternion inverse () const;
-  Vector apply (Vector& f) const;
+  Vector apply (Vector& f) const ;//{ Quaternion q; q.v = v; q.w = 0; q = *this * q * conjugate(); return q.v; }
   float norm () const;
   void matrix (float m[4][4]) const;