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

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/math/vector.h (modified) (1 diff)

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; };