Changeset 4998 in orxonox.OLD for orxonox/trunk/src/lib

Timestamp:

Aug 13, 2005, 7:19:51 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: more optimizations of the Quaternion Class.
Now the 3D-rotation is much faster through this code:

Vector tmpRot = this→getAbsDir().getSpacialAxis();
glRotatef (this→getAbsDir().getSpacialAxisAngle(), tmpRot.x, tmpRot.y, tmpRot.z );

instead of the old Matrix-approach. furthermore glRotate is optimized much better in openGL as is clearly stated in the red book

also implemented some other really useless functions for Quaternion

Location:

orxonox/trunk/src/lib

Files:

• coord/p_node.cc (modified) (4 diffs)
• math/vector.cc (modified) (2 diffs)
• math/vector.h (modified) (3 diffs)

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

@@ -327 +327 @@
 }
 
-
 /**
  *  sets the absolute direction (0,0,1)
@@ -543 +542 @@
       if (unlikely(this->toDirection != NULL))
       {
-        Quaternion rotQuat = (*this->toDirection / this->getRelDir()) *dt*bias;
-        rotQuat.debug();
-//        if (likely(rotQuat.len() >= .001))
+        Quaternion rotQuat = Quaternion(.1, Vector(0,1,0));// (*this->toDirection / this->relDirection);
+//         printf("1: ");
+//         this->relDirection.debug();
+//         printf("2: ");
+//         this->toDirection->debug();
+//         printf("3: ");
+//         rotQuat.debug();
+
+        if (true)//likely(rotQuat.len() >= .001))
         {
           this->shiftDir(rotQuat);
         }
-/*        else
+        else
         {
           delete this->toCoordinate;
           this->toCoordinate = NULL;
           PRINTF(5)("SmoothMove of %s finished\n", this->getName());
-        }*/
+        }
       }
 
@@ -664 +669 @@
   glMatrixMode(GL_MODELVIEW);
   glPushMatrix();
-  float matrix[4][4];
 
   /* translate */
@@ -671 +675 @@
                 this->getAbsCoor ().z);
   /* rotate */
-  this->getAbsDir ().matrix (matrix);
-  glMultMatrixf((float*)matrix);
+//  this->getAbsDir ().matrix (matrix);
+//  glMultMatrixf((float*)matrix);
+
+  Vector tmpRot = this->getAbsDir().getSpacialAxis();
+  glRotatef (this->getAbsDir().getSpacialAxisAngle(), tmpRot.x, tmpRot.y, tmpRot.z );
   {
     glBegin(GL_LINE_STRIP);

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

@@ -197 +197 @@
  * @returns the Result of the smooth move
 */
-Quaternion quatSlerp(const Quaternion& from, const Quaternion& to, float t)
+Quaternion Quaternion::quatSlerp(const Quaternion& from, const Quaternion& to, float t)
 {
   float tol[4];
@@ -306 +306 @@
 void Quaternion::debug()
 {
-  PRINT(0)("Quaternion Debug Information\n");
   PRINT(0)("real a=%f; imag: x=%f y=%f z=%f\n", w, v.x, v.y, v.z);
 }

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

@@ -150 +150 @@
   inline Quaternion operator= (const Quaternion& q) {this->v = q.v; this->w = q.w; return *this;}
   /** conjugates this Quaternion @returns the conjugate */
-  inline Quaternion conjugate () const { Quaternion r(*this); r.v = Vector() - r.v; return r; };
+  inline Quaternion conjugate () const { return Quaternion(Vector(-v.x, -v.y, -v.z), this->w); };
   /** @returns the norm of The Quaternion */
   inline float norm () const { return w*w + v.x*v.x + v.y*v.y + v.z*v.z; };
@@ -158 +158 @@
   inline Vector apply (const Vector& v) const { return (*this * Quaternion(v, 0) * conjugate()).v; };
   void matrix (float m[4][4]) const;
+  /** @returns the normalized Quaternion (|this|) */
+  inline Quaternion getNormalized() const { float n = this->norm(); return Quaternion(this->v/n, this->w/n); };
+  /** normalizes the current Quaternion */
+  inline void normalize() { float n = this->norm(); this->v /= n; this->w/=n; };
+
+  /** @returns the rotational axis of this Quaternion */
+  inline Vector getSpacialAxis() const { return this->v / sin(acos(w));/*sqrt(v.x*v.x + v.y*v.y + v.z+v.z);*/ };
+  /** @returns the rotational angle of this Quaternion around getSpacialAxis()  !! IN DEGREE !! */
+  inline float getSpacialAxisAngle() const { return 360 / M_PI * acos(this->w); };
+
+  static Quaternion quatSlerp(const Quaternion& from, const Quaternion& to, float t);
 
   void debug();
+
 
  public:
@@ -167 +179 @@
 };
 
-Quaternion quatSlerp(const Quaternion& from, const Quaternion& to, float t);