Changeset 5000 in orxonox.OLD for orxonox/trunk/src/lib/coord/p_node.cc

Timestamp:

Aug 13, 2005, 9:07:56 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: smooth-rotation is better now
PNODE_MOVEMENT_ROTATE-children are correcly smooth-reparented
some other minor fixes

THIS IS 5000
so
generated the endOfTheWorld-function
implemented de-generic recapitualisation Procedures
imported magnificizer
dezentralized obscurities
some other minor stuff
flush
eliminated deamons

man… i must have to much time

File:

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

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

@@ -483 +483 @@
   parentNode->addChild(this);
 
-/*  if (this->parentMode & PNODE_ROTATE_MOVEMENT)
-  this->setRelCoor(parent->getRelDir().apply(tmpV - parent->getAbsCoor()));
-  else*/
-  this->setRelCoor(tmpV - parentNode->getAbsCoor());
+ if (this->parentMode & PNODE_ROTATE_MOVEMENT)
+   this->setRelCoor(this->parent->getAbsDir().inverse().apply(tmpV - this->parent->getAbsCoor()));
+ else
+   this->setRelCoor(tmpV - parentNode->getAbsCoor());
 
   this->setRelDir(tmpQ / parentNode->getAbsDir());
@@ -542 +542 @@
       if (unlikely(this->toDirection != NULL))
       {
-        Quaternion rotQuat = Quaternion(.1, Vector(0,1,0));// (*this->toDirection / this->relDirection);
+        Quaternion rotQuat = (*this->toDirection / this->relDirection)*dt;
 //         printf("1: ");
 //         this->relDirection.debug();
 //         printf("2: ");
 //         this->toDirection->debug();
-//         printf("3: ");
-//         rotQuat.debug();
-
-        if (true)//likely(rotQuat.len() >= .001))
+        //printf("3: ");
+        //rotQuat.debug2();
+
+        if (likely(rotQuat.getSpacialAxisAngle() >= .01))
         {
           this->shiftDir(rotQuat);
@@ -556 +556 @@
         else
         {
-          delete this->toCoordinate;
-          this->toCoordinate = NULL;
-          PRINTF(5)("SmoothMove of %s finished\n", this->getName());
+          delete this->toDirection;
+          this->toDirection = NULL;
+          PRINTF(5)("SmoothRotate of %s finished\n", this->getName());
         }
       }