Changeset 3823 in orxonox.OLD for orxonox/trunk/src/lib/math

Timestamp:

Apr 14, 2005, 1:09:55 AM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: finished work on vector class: inlied all functions that where called often

Location:

orxonox/trunk/src/lib/math

Files:

• vector.cc (modified) (3 diffs)
• vector.h (modified) (1 diff)

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

@@ -332 +332 @@
   q = *this * q * conjugate();
   return q.v;
-  }
+}
+
 
 /**
@@ -365 +366 @@
    \return the conjugate Quaternion
 */
+/*
 Quaternion Quaternion::conjugate() const
 {
@@ -371 +373 @@
   return r;
 }
+*/
 
 /**

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

@@ -80 +80 @@
   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 conjugate () const {  Quaternion r(*this);
+  r.v = Vector() - r.v;
+  return r;}
   Quaternion inverse () const;
-  Vector apply (Vector& f) const ;//{ Quaternion q; q.v = v; q.w = 0; q = *this * q * conjugate(); return q.v; }
+  Vector apply (Vector& f) const;
   float norm () const;
   void matrix (float m[4][4]) const;