Changeset 5000 in orxonox.OLD for orxonox/trunk/src/lib/math

Timestamp:

Aug 13, 2005, 9:07:56 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: smooth-rotation is better now
PNODE_MOVEMENT_ROTATE-children are correcly smooth-reparented
some other minor fixes

THIS IS 5000
so
generated the endOfTheWorld-function
implemented de-generic recapitualisation Procedures
imported magnificizer
dezentralized obscurities
some other minor stuff
flush
eliminated deamons

man… i must have to much time

Location:

orxonox/trunk/src/lib/math

Files:

• vector.cc (modified) (1 diff)
• vector.h (modified) (2 diffs)

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

@@ -282 +282 @@
 }
 
+void Quaternion::debug2()
+{
+  Vector axis = this->getSpacialAxis();
+  PRINT(0)("angle = %f, axis: ax=%f, ay=%f, az=%f\n", this->getSpacialAxisAngle(), axis.x, axis.y, axis.z );
+}
+
 /**
  *  create a rotation from a vector

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

@@ -157 +157 @@
   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; };
+  inline float norm () const { return sqrt(w*w + v.x*v.x + v.y*v.y + v.z*v.z); };
   /** @returns the inverted Quaterntion of this */
-  inline Quaternion inverse () const { return conjugate() / norm(); };
+  inline Quaternion inverse () const { return conjugate() / (w*w + v.x*v.x + v.y*v.y + v.z*v.z); };
   /** @param v: the Vector  @return a new Vector representing v rotated by the Quaternion */
   inline Vector apply (const Vector& v) const { return (*this * Quaternion(v, 0) * conjugate()).v; };
@@ -176 +176 @@
 
   void debug();
+  void debug2();