Changeset 4178 in orxonox.OLD for orxonox/branches/physics/src/lib/coord

Timestamp:

May 13, 2005, 11:16:33 PM (20 years ago)

Author:

bensch

Message:

orxonox/branches/physics: merged the Trunk into the physics Branche again:
merged with command:
svn merge ../trunk physics -r 3953:HEAD
no important conflicts

Location:

orxonox/branches/physics

Files:

• . (modified) (1 prop)
• src/lib/coord/null_parent.cc (modified) (2 diffs)
• src/lib/coord/p_node.cc (modified) (19 diffs)
• src/lib/coord/p_node.h (modified) (4 diffs)

orxonox/branches/physics

@@ -1 @@
-data http://svn.orxonox.ethz.ch/data
+

@@ -1 @@
-data http://svn.orxonox.ethz.ch/data
+

orxonox/branches/physics/src/lib/coord/null_parent.cc

@@ -54 +54 @@
   this->parent = this;
   this->mode = PNODE_ALL;
-  *this->absCoordinate = absCoordinate;
+  this->absCoordinate = absCoordinate;
   this->setName("NullParent");
 }
@@ -80 +80 @@
 {
 
-  PRINTF(4)("NullParent::update - (%f, %f, %f)\n", this->absCoordinate->x, this->absCoordinate->y, this->absCoordinate->z);
-  *this->absCoordinate = *this->relCoordinate;
-  *this->absDirection = parent->getAbsDir () * *this->relDirection;
+  PRINTF(4)("NullParent::update - (%f, %f, %f)\n", this->absCoordinate.x, this->absCoordinate.y, this->absCoordinate.z);
+  this->absCoordinate = this->relCoordinate;
+  this->absDirection = parent->getAbsDir () * this->relDirection;
 
   tIterator<PNode>* iterator = this->children->getIterator();

orxonox/branches/physics/src/lib/coord/p_node.cc

@@ -60 +60 @@
   this->init(parent);
 
-  *this->absCoordinate = absCoordinate;
+  this->absCoordinate = absCoordinate;
 
   if (likely(parent != NULL))
   {
-    *this->relCoordinate = *this->absCoordinate - parent->getAbsCoor ();
+    this->relCoordinate = this->absCoordinate - parent->getAbsCoor();
     parent->addChild (this);
   }
-  else 
-    this->relCoordinate = new Vector();
 }
 
@@ -89 +87 @@
   delete []this->objectName;
 
-  delete this->relCoordinate;
-  delete this->absCoordinate;
-  delete this->relDirection;
-  delete this->absDirection;
-  delete this->lastAbsCoordinate;
-  delete this->diffCoordinate;
 }
 
@@ -107 +99 @@
   this->parent = parent; 
   this->objectName = NULL;
-  this->time = 1.0; /* set time to 1 to make divisions by zero impossible */
-
-  this->absCoordinate = new Vector();
-  this->relCoordinate = new Vector();
-  this->absDirection = new Quaternion();
-  this->relDirection = new Quaternion();
-  this->lastAbsCoordinate = new Vector();
-  this->diffCoordinate = new Vector();
 }
 
@@ -158 +142 @@
 {
   this->bRelCoorChanged = true;
-  *this->relCoordinate = relCoord;
+  this->relCoordinate = relCoord;
 }
 
@@ -182 +166 @@
 {
   this->bAbsCoorChanged = true;
-  *this->absCoordinate = absCoord;
+  this->absCoordinate = absCoord;
 }
 
@@ -211 +195 @@
   if( unlikely(this->bAbsCoorChanged))
     {
-      *this->absCoordinate = *this->absCoordinate + shift;
+      this->absCoordinate += shift;
     }
   else 
     {
-      *this->relCoordinate = *this->relCoordinate + shift;
+      this->relCoordinate += shift;
       this->bRelCoorChanged = true;
     }
@@ -241 +225 @@
 {
   this->bRelCoorChanged = true;
-  *this->relDirection = relDir;
+  this->relDirection = relDir;
 }
 
@@ -264 +248 @@
 {
   this->bAbsDirChanged = true;
-  *this->absDirection = absDir;
+  this->absDirection = absDir;
 }
 
@@ -293 +277 @@
 {
   this->bRelDirChanged = true;
-  *this->relDirection = *this->relDirection * shift;
-}
-
-
-
-/**
-   \brief this calculates the current movement speed of the node
-*/
-float PNode::getSpeed() const
-{
-  *this->diffCoordinate = *this->absCoordinate - *this->lastAbsCoordinate;
-  return this->diffCoordinate->len() / this->time;
-}
-
+  this->relDirection = this->relDirection * shift;
+}
 
 /**
@@ -432 +404 @@
 void PNode::update (float dt)
 {
-  *this->lastAbsCoordinate = *this->absCoordinate;
-  this->time = dt;
-  PRINTF(4)("PNode::update - %s - (%f, %f, %f)\n", this->objectName, this->absCoordinate->x, this->absCoordinate->y, this->absCoordinate->z);
+  this->lastAbsCoordinate = this->absCoordinate;
+
+  PRINTF(4)("PNode::update - %s - (%f, %f, %f)\n", this->objectName, this->absCoordinate.x, this->absCoordinate.y, this->absCoordinate.z);
 
 
@@ -442 +414 @@
         {
           /* if you have set the absolute coordinates this overrides all other changes */
-          *this->relCoordinate = *this->absCoordinate - parent->getAbsCoor ();
+          this->relCoordinate = this->absCoordinate - parent->getAbsCoor ();
         }
       if( likely(this->bRelCoorChanged) /*&& this->timeStamp != DataTank::timeStamp*/)
@@ -455 +427 @@
             }
             else */
-          *this->absCoordinate = parent->getAbsCoor() + *this->relCoordinate;         /* update the current absCoordinate */
+          this->absCoordinate = parent->getAbsCoor() + this->relCoordinate;           /* update the current absCoordinate */
         }
     }
@@ -464 +436 @@
         {
           /* if you have set the absolute coordinates this overrides all other changes */
-          *this->relDirection = *this->absDirection - parent->getAbsDir();
+          this->relDirection = this->absDirection - parent->getAbsDir();
         }
       else if( likely(this->bRelDirChanged) /*&& this->timeStamp != DataTank::timeStamp*/)
         {
           /* update the current absDirection - remember * means rotation around sth.*/
-          *this->absDirection = parent->getAbsDir() * *this->relDirection;
+          this->absDirection = parent->getAbsDir() * this->relDirection;
         }
     }
@@ -478 +450 @@
         {
           /* if you have set the absolute coordinates this overrides all other changes */
-          *this->relCoordinate = *this->absCoordinate - parent->getAbsCoor ();
+          this->relCoordinate = this->absCoordinate - parent->getAbsCoor ();
         }
       else if( likely(this->bRelCoorChanged) /*&& this->timeStamp != DataTank::timeStamp*/)
@@ -486 +458 @@
             *this->absCoordinate = *this->relCoordinate;
             else*/
-          *this->absCoordinate = parent->getAbsCoor() + parent->getAbsDir().apply(*this->relCoordinate);              /* update the current absCoordinate */
+          this->absCoordinate = parent->getAbsCoor() + parent->getAbsDir().apply(this->relCoordinate);        /* update the current absCoordinate */
         }
     }
@@ -508 +480 @@
   delete iterator;
 
+  this->velocity = (this->absCoordinate - this->lastAbsCoordinate) / dt;
   this->timeStamp = timeStamp;
   this->bRelCoorChanged = false;
@@ -540 +513 @@
 {
   PRINTF(2)("PNode::debug() - absCoord: (%f, %f, %f)\n", 
-         this->absCoordinate->x, 
-         this->absCoordinate->y,
-         this->absCoordinate->z);
+         this->absCoordinate.x, 
+         this->absCoordinate.y,
+         this->absCoordinate.z);
 }
 
@@ -551 +524 @@
   for debug purposes realy usefull, not used to work properly
 */
-void PNode::setName (char* newName)
+void PNode::setName (const char* newName)
 {
   this->objectName = new char[strlen(newName)+1];
@@ -561 +534 @@
   \brief gets the name of the node
 */
-char* PNode::getName ()
+const char* PNode::getName ()
 {
   return this->objectName;

orxonox/branches/physics/src/lib/coord/p_node.h

@@ -57 +57 @@
 
 
-  inline Vector* getRelCoor () const { return this->relCoordinate; }
+  inline const Vector& getRelCoor () const { return this->relCoordinate; }
   void setRelCoor (const Vector& relCoord);
-  inline Vector getAbsCoor () const { return *this->absCoordinate; }
+  inline const Vector& getAbsCoor () const { return this->absCoordinate; }
   void setAbsCoor (const Vector& absCoord);
   void shiftCoor (const Vector& shift);
 
-  inline Quaternion getRelDir () const { return *this->relDirection; }
+  inline const Quaternion& getRelDir () const { return this->relDirection; }
   void setRelDir (const Quaternion& relDir);
-  inline Quaternion getAbsDir () const { return *this->absDirection; }
+  inline const Quaternion& getAbsDir () const { return this->absDirection; }
   void setAbsDir (const Quaternion& absDir);
   void shiftDir (const Quaternion& shift);
 
-  float getSpeed() const;
+  /** \returns the Speed of the Node */
+  inline float getSpeed() const {return this->velocity.len()/1000;} //! \FIX THIS SHOULD NOT BE /1000
+  /** \returns the Velocity of the Node */
+  inline const Vector& getVelocity() const {return this->velocity;}
 
   void addChild (PNode* pNode, int parentingMode = DEFAULT_MODE);
@@ -85 +88 @@
   void processTick (float dt);
 
-  void setName (char* newName);
-  char* getName ();
+  void setName (const char* newName);
+  const char* getName ();
 
 
@@ -99 +102 @@
   bool bRelDirChanged;     //!< If Relative Direction has changed since last time we checked
 
-  Vector* relCoordinate;    //!< coordinates relative to the parent
-  Vector* absCoordinate;    //!< absolute coordinates in the world ( from (0,0,0) )
-  Quaternion* relDirection; //!< direction relative to the parent
-  Quaternion* absDirection; //!< absolute direvtion in the world ( from (0,0,1) )
+  Vector relCoordinate;    //!< coordinates relative to the parent
+  Vector absCoordinate;    //!< absolute coordinates in the world ( from (0,0,0) )
+  Quaternion relDirection; //!< direction relative to the parent
+  Quaternion absDirection; //!< absolute direvtion in the world ( from (0,0,1) )
 
   int mode;                //!< the mode of the binding
@@ -109 +112 @@
   void init(PNode* parent);
 
-  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
+  Vector velocity;          //!< Saves the velocity.
+  Vector lastAbsCoordinate; //!< this is used for speedcalculation, it stores the last coordinate
 };
 

@@ -1 @@
-data http://svn.orxonox.ethz.ch/data
+