Changeset 4997 in orxonox.OLD for orxonox/trunk/src/lib/coord/p_node.cc

Timestamp:

Aug 13, 2005, 3:10:52 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: optimized vector class

File:

• orxonox/trunk/src/lib/coord/p_node.cc (modified) (3 diffs)

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

@@ -339 +339 @@
 {
   if (this->parent)
-    this->relDirection = absDir * parent->getAbsDir().inverse();
+    this->relDirection = absDir / parent->getAbsDir();
   else
     this->relDirection = absDir;
@@ -489 +489 @@
   this->setRelCoor(tmpV - parentNode->getAbsCoor());
 
-  this->setRelDir(tmpQ * parentNode->getAbsDir().inverse());
+  this->setRelDir(tmpQ / parentNode->getAbsDir());
 }
 
@@ -543 +543 @@
       if (unlikely(this->toDirection != NULL))
       {
-        Quaternion rotQuat = (*this->toDirection * this->getRelDir().inverse()) *dt*bias;
+        Quaternion rotQuat = (*this->toDirection / this->getRelDir()) *dt*bias;
+        rotQuat.debug();
 //        if (likely(rotQuat.len() >= .001))
         {