Changeset 4996 in orxonox.OLD for orxonox/trunk/src/lib

Timestamp:

Aug 13, 2005, 2:21:18 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: reparenting now also works for Dir - optimizing

File:

• orxonox/trunk/src/lib/coord/p_node.cc (modified) (5 diffs)

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

@@ -331 +331 @@
  *  sets the absolute direction (0,0,1)
  * @param absDir absolute coordinates
-
-   it is very importand, that you use this function, if you want to update the
-   absDirection. If you don't use this, the PNode won't recognize, that something
-   has changed and won't update the children Nodes.
  *
- * FIXME ERROR HERE THIS IS IMPLEMENTED FALSELY
- * @todo FIXME
+ * it is very importand, that you use this function, if you want to update the
+ * absDirection. If you don't use this, the PNode won't recognize, that something
+ * has changed and won't update the children Nodes.
 */
 void PNode::setAbsDir (const Quaternion& absDir)
 {
-//  if (this->parent)
-    this->relDirection = absDir;// - parent->getAbsDir();
-//  else
-//    this->relDirection = absDir;
+  if (this->parent)
+    this->relDirection = absDir * parent->getAbsDir().inverse();
+  else
+    this->relDirection = absDir;
 
   this->bRelDirChanged = true;
@@ -492 +489 @@
   this->setRelCoor(tmpV - parentNode->getAbsCoor());
 
-  this->setRelDir(tmpQ - parentNode->getAbsDir());
+  this->setRelDir(tmpQ * parentNode->getAbsDir().inverse());
 }
 
@@ -546 +543 @@
       if (unlikely(this->toDirection != NULL))
       {
-        Quaternion rotQuat = (*this->toDirection - this->getRelDir()) *dt*bias;
-
+        Quaternion rotQuat = (*this->toDirection * this->getRelDir().inverse()) *dt*bias;
 //        if (likely(rotQuat.len() >= .001))
         {
@@ -630 +626 @@
   else
     PRINT(0)(" -");
-  PRINT(0)("PNode(%s::%s) - absCoord: (%0.2f, %0.2f, %0.2f), relCoord(%0.2f, %0.2f, %0.2f) - %s\n",
+  PRINT(0)("PNode(%s::%s) - absCoord: (%0.2f, %0.2f, %0.2f), relCoord(%0.2f, %0.2f, %0.2f), direction(%0.2f, %0.2f, %0.2f) - %s\n",
            this->getClassName(),
            this->getName(),
@@ -639 +635 @@
            this->relCoordinate.y,
            this->relCoordinate.z,
+           this->getAbsDirV().x,
+           this->getAbsDirV().y,
+           this->getAbsDirV().z,
            this->parentingModeToChar(parentMode));
   if (depth >= 2 || depth == 0)