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

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

File:

• trunk/src/lib/coord/p_node.cc (modified) (2 diffs)

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