Changeset 4372 in orxonox.OLD for orxonox/trunk

Timestamp:

May 29, 2005, 10:36:20 AM (20 years ago)

Author:

bensch

Message:

orxonox/trunk: slight optimizations and a new definition for PNode.
now one can get the Direction as a Vector (or Quaternion)

Location:

orxonox/trunk/src/lib

Files:

• coord/p_node.h (modified) (1 diff)
• math/vector.cc (modified) (2 diffs)
• math/vector.h (modified) (2 diffs)

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

@@ -57 +57 @@
 
 
-  inline const Vector& getRelCoor () const { return this->relCoordinate; }
   void setRelCoor (const Vector& relCoord);
-  inline const Vector& getAbsCoor () const { return this->absCoordinate; }
+  /** \returns the relative position */
+  inline const Vector& getRelCoor () const { return this->relCoordinate; };
   void setAbsCoor (const Vector& absCoord);
+  /** \retuns the absolute position */
+  inline const Vector& getAbsCoor () const { return this->absCoordinate; };
   void shiftCoor (const Vector& shift);
 
-  inline const Quaternion& getRelDir () const { return this->relDirection; }
   void setRelDir (const Quaternion& relDir);
-  inline const Quaternion& getAbsDir () const { return this->absDirection; }
+  /** \returns the relative Direction */
+  inline const Quaternion& getRelDir () const { return this->relDirection; };
+  /** \returns a Vector pointing into the relative Direction */
+  inline Vector getRelDirV() const { return this->relDirection.apply(Vector(0,1,0)); };
   void setAbsDir (const Quaternion& absDir);
+  /** \returns the absolute Direction */
+  inline const Quaternion& getAbsDir () const { return this->absDirection; };
+  /** \returns a Vector pointing into the absolute Direction */
+  inline Vector getAbsDirV() const { return this->absDirection.apply(Vector(0,1,0)); };
+
   void shiftDir (const Quaternion& shift);
 

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

@@ -100 +100 @@
 */
 
-Vector Vector::getNormalized()
+Vector Vector::getNormalized() const
 {
   float l = len();
@@ -329 +329 @@
 */
 
-Vector Quaternion::apply (Vector& v) const
+Vector Quaternion::apply (const Vector& v) const
 {
   Quaternion q;

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

@@ -56 +56 @@
                       z = z / l; 
                     }
-  Vector getNormalized();
+  Vector getNormalized() const;
   Vector abs();
 
@@ -96 +96 @@
   return r;}
   Quaternion inverse () const;
-  Vector apply (Vector& f) const;
+  Vector apply (const Vector& f) const;
   float norm () const;
   void matrix (float m[4][4]) const;