Changeset 5006 in orxonox.OLD for orxonox/trunk

Timestamp:

Aug 14, 2005, 1:50:16 AM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: quatlerping works very good.
some speed-issues, exactity, etc…

Location:

orxonox/trunk/src/lib

Files:

• coord/p_node.cc (modified) (3 diffs)
• coord/p_node.h (modified) (1 diff)
• math/vector.h (modified) (1 diff)

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

@@ -528 +528 @@
         Vector moveVect = (*this->toCoordinate - this->getRelCoor()) *dt*bias;
 
-        if (likely(moveVect.len() >= .001))
+        if (likely(moveVect.len() >= PNODE_ITERATION_DELTA))
         {
           this->shiftCoor(moveVect);
@@ -541 +541 @@
       if (unlikely(this->toDirection != NULL))
       {
-        Quaternion rotQuat = Quaternion::quatSlerp(Quaternion(0, Vector(0,1,0)), (*this->toDirection / this->relDirection), dt*this->bias);
-//         printf("1: ");
-//         this->relDirection.debug();
-//         printf("2: ");
-//         this->toDirection->debug();
-        printf("3: ");
-        rotQuat.debug2();
-
-        if (likely(rotQuat.getSpacialAxisAngle() >= .01))
+        Quaternion rotQuat = Quaternion::quatSlerp(Quaternion(), (*this->toDirection / this->relDirection), dt*this->bias);
+        if (likely(rotQuat.getSpacialAxisAngle() > PNODE_ITERATION_DELTA))
         {
           this->shiftDir(rotQuat);
@@ -557 +550 @@
           delete this->toDirection;
           this->toDirection = NULL;
-          PRINTF(5)("SmoothRotate of %s finished\n", this->getName());
+          PRINTF(0)("SmoothRotate of %s finished\n", this->getName());
         }
       }

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

@@ -25 +25 @@
 #include "vector.h"
 
+
+
 // FORWARD DEFINITION \\
 class TiXmlElement;
 template<class T> class tList;
 
+#define PNODE_ITERATION_DELTA    .001
 //! Parental linkage modes
 typedef enum

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

@@ -136 +136 @@
                                                                          this->w*q.v.y + this->v.y*q.w + this->v.z*q.v.x - this->v.x*q.v.z,
                                                                          this->w*q.v.z + this->v.z*q.w + this->v.x*q.v.y - this->v.y*q.v.x),
-                                                                         this->w*q.w - this->v.x*q.v.x - this->v.y*q.v.y - this->v.z*q.v.z);
-  };
+                                                                         this->w*q.w - this->v.x*q.v.x - this->v.y*q.v.y - this->v.z*q.v.z); };
   /** @param q: the Quaternion to multiply by @returns the quaternion multiplied by q (this *= q) */
   inline const Quaternion& operator*= (const Quaternion& q) {*this = *this * q; return *this; };