Changeset 5419 in orxonox.OLD for trunk/src/lib

Timestamp:

Oct 22, 2005, 10:55:51 AM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: MUCH better algorithm for the QuaternionSlerp in PNodes rotate-to function
also updated the Quaternion class, to now hold dot-product and distance

Location:

trunk/src/lib

Files:

• coord/p_node.cc (modified) (2 diffs)
• graphics/text_engine/text.cc (modified) (1 diff)
• math/vector.h (modified) (1 diff)

trunk/src/lib/coord/p_node.cc

@@ -11 +11 @@
    ### File Specific:
    main-programmer: Patrick Boenzli
-   co-programmer:
+   co-programmer: Benjamin Grauer
 */
 
@@ -630 +630 @@
       if (unlikely(this->toDirection != NULL))
       {
-        Quaternion rotQuat = Quaternion::quatSlerp(Quaternion(), (*this->toDirection / this->relDirection), fabsf(dt)*this->bias);
-        if (likely(rotQuat.getSpacialAxisAngle() > PNODE_ITERATION_DELTA))
+        Quaternion rotQuat = Quaternion::quatSlerp(this->relDirection,*this->toDirection, fabsf(dt)*this->bias);
+        if (this->relDirection.distance(rotQuat) >PNODE_ITERATION_DELTA)
         {
-          this->shiftDir(rotQuat);
+          this->relDirection = rotQuat;
+          this->bRelDirChanged;
         }
         else

trunk/src/lib/graphics/text_engine/text.cc

@@ -251 +251 @@
         {
           glBegin(GL_QUADS);
+
           glTexCoord2f(tmpGlyph->texCoord[0], tmpGlyph->texCoord[2]);
           glVertex2d(posX, - tmpGlyph->bearingY * this->size);
+
           glTexCoord2f(tmpGlyph->texCoord[0], tmpGlyph->texCoord[3]);
           glVertex2d(posX, (tmpGlyph->height - tmpGlyph->bearingY)*this->size);
+
           glTexCoord2f(tmpGlyph->texCoord[1], tmpGlyph->texCoord[3]);
           glVertex2d(posX+tmpGlyph->width*this->size, (tmpGlyph->height - tmpGlyph->bearingY)*this->size);
+
           glTexCoord2f(tmpGlyph->texCoord[1], tmpGlyph->texCoord[2]);
           glVertex2d(posX+tmpGlyph->width*this->size, - tmpGlyph->bearingY*this->size);
+
           glEnd();
           glEndList();
-          posX += tmpGlyph->width*this->size;
+          posX += tmpGlyph->advance * this->size;
         }
-        tmpText++;
+        ++tmpText;
       }
     }

trunk/src/lib/math/vector.h

@@ -157 +157 @@
   /** @returns the inverted Quaterntion of this */
   inline Quaternion inverse () const { return conjugate() / (w*w + v.x*v.x + v.y*v.y + v.z*v.z); };
+  /** @returns the dot Product of a Quaternion */
+  inline float dot (const Quaternion& q) const { return v.x*q.v.x + v.y*q.v.y + v.z*q.v.z + w*q.w; };
+  /** @retuns the Distance between two Quaternions */
+  inline float distance(const Quaternion& q) const { return 2*acos(fabsf(this->dot(q))); };
   /** @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; };