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

Timestamp:

Aug 13, 2005, 7:19:51 PM (20 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

File:

• orxonox/trunk/src/lib/coord/p_node.cc (modified) (4 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);