Changeset 3971 in orxonox.OLD for orxonox/trunk/src/lib

Timestamp:

Apr 26, 2005, 1:23:57 AM (20 years ago)

Author:

bensch

Message:

orxonox/trunk: return value of quat-slerp was wrong

Location:

orxonox/trunk/src/lib/math

Files:

• vector.cc (modified) (2 diffs)
• vector.h (modified) (2 diffs)

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

@@ -441 +441 @@
    \returns the Result of the smooth move
 */
-Quaternion Quaternion::quatSlerp(const Quaternion& from, const Quaternion& to, float t)
+Quaternion quatSlerp(const Quaternion& from, const Quaternion& to, float t)
 {
   float tol[4];
   double omega, cosom, sinom, scale0, scale1;
-  DELTA = 0.2;
+  //  float DELTA = 0.2;
 
   cosom = from.v.x * to.v.x + from.v.y * to.v.y + from.v.z * to.v.z + from.w * to.w;
@@ -488 +488 @@
     res.w = scale0 * from.w + scale1 * tol[3];
   */
-  return Quaternion(scale0 * from.w + scale1 * tol[3], 
-                    Vector(scale0 * from.v.x + scale1 * tol[0],
+  return Quaternion(Vector(scale0 * from.v.x + scale1 * tol[0],
                            scale0 * from.v.y + scale1 * tol[1],
-                           scale0 * from.v.z + scale1 * tol[2]));
+                           scale0 * from.v.z + scale1 * tol[2]),
+                    scale0 * from.w + scale1 * tol[3]);
 }
 

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

@@ -76 +76 @@
   
   inline Quaternion () { w = 1; v = Vector(0,0,0); }
-  inline Quaternion (const Vector& b, float a) { w = a; v = b; }
+  inline Quaternion (const Vector& v, float f) { this->w = f; this->v = v; }
   Quaternion (float m[4][4]);
   inline Quaternion (float angle, const Vector& axis) { w = cos(angle/2); v = axis * sin(angle/2); }
@@ -99 +99 @@
   float norm () const;
   void matrix (float m[4][4]) const;
-  Quaternion quatSlerp(const Quaternion& from, const Quaternion& to, float t);
   
   void debug();
- private:
-  float DELTA;      //!< resolution of calculation
+};
 
-};
+Quaternion quatSlerp(const Quaternion& from, const Quaternion& to, float t);
+
+
 
 //! 3D rotation (OBSOLETE)