Changeset 5414 in orxonox.OLD for trunk/src/lib/coord

Timestamp:

Oct 21, 2005, 9:45:54 AM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: new functionality in PNode and Element2D
they now support setAbsCoordSofy*
and setAbsDirSoft*

these functions are used in the new Turret, for smooth iteration, so it does not just snap to place

Location:

trunk/src/lib/coord

Files:

• p_node.cc (modified) (1 diff)
• p_node.h (modified) (1 diff)

trunk/src/lib/coord/p_node.cc

@@ -415 +415 @@
   this->setAbsDir(Quaternion(Vector(x,y,z), Vector(0,1,0)));
 }
+
+/**
+ *  sets the absolute direction
+ * @param absDir absolute coordinates
+ */
+void PNode::setAbsDirSoft (const Quaternion& absDirSoft, float bias)
+{
+  if (this->toDirection == NULL)
+    this->toDirection = new Quaternion();
+
+  if (likely(this->parent != NULL))
+    *this->toDirection = absDirSoft / this->parent->getAbsDir();
+  else
+   *this->toDirection = absDirSoft;
+
+  this->bias = bias;
+}
+
+/**
+ * @see void PNode::setAbsDir (const Quaternion& relDir)
+ * @param x the x direction
+ * @param y the y direction
+ * @param z the z direction
+ *
+ * main difference is, that here you give a directional vector, that will be translated into a Quaternion
+ */
+void PNode::setAbsDirSoft (float x, float y, float z, float bias)
+{
+  this->setAbsDirSoft(Quaternion(Vector(x,y,z), Vector(0,1,0)), bias);
+}
+
 
 /**

trunk/src/lib/coord/p_node.h

@@ -83 +83 @@
   void setAbsDir (const Quaternion& absDir);
   void setAbsDir (float x, float y, float z);
+  void setAbsDirSoft(const Quaternion& absDirSoft, float bias = 1.0);
+  void setAbsDirSoft(float x, float y, float z, float bias = 1.0);
   /** @returns the absolute Direction */
   inline const Quaternion& getAbsDir () const { return this->absDirection; };