Changeset 5050 in orxonox.OLD

Timestamp:

Aug 16, 2005, 10:17:20 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: now operating on previous (not last as AbsCoor, but absCoor) Relative coordinates and Directions

Location:

orxonox/trunk/src/lib/coord

Files:

• p_node.cc (modified) (3 diffs)
• p_node.h (modified) (3 diffs)

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

@@ -563 +563 @@
       {
         /* update the current absDirection - remember * means rotation around sth.*/
+        this->prevRelCoordinate = this->relCoordinate;
         this->absDirection = this->relDirection * parent->getAbsDir();;
       }
@@ -569 +570 @@
       {
         /* update the current absCoordinate */
+        this->prevRelCoordinate = this->relCoordinate;
         this->absCoordinate = this->parent->getAbsCoor() + this->relCoordinate;
       }
@@ -574 +576 @@
       {
         /* update the current absCoordinate */
+        this->prevRelDirection = this->relDirection;
         this->absCoordinate = this->parent->getAbsCoor() + parent->getAbsDir().apply(this->relCoordinate);
       }

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

@@ -65 +65 @@
   void setRelCoorSoft(float x, float y, float z, float bias = 1.0);
   /** @returns the relative position */
-  inline const Vector& getRelCoor () const { return this->relCoordinate; };
+  inline const Vector& getRelCoor () const { return this->prevRelCoordinate; };
   void setAbsCoor (const Vector& absCoord);
   void setAbsCoor (float x, float y, float z);
@@ -77 +77 @@
   void setRelDirSoft(float x, float y, float z, float bias = 1.0);
   /** @returns the relative Direction */
-  inline const Quaternion& getRelDir () const { return this->relDirection; };
+  inline const Quaternion& getRelDir () const { return this->prevRelDirection; };
   /** @returns a Vector pointing into the relative Direction */
-  inline Vector getRelDirV() const { return this->relDirection.apply(Vector(0,1,0)); };
+  inline Vector getRelDirV() const { return this->prevRelDirection.apply(Vector(0,1,0)); };
   void setAbsDir (const Quaternion& absDir);
   void setAbsDir (float x, float y, float z);
@@ -141 +141 @@
   Quaternion      absDirection;       //!< absolute direvtion in the world ( from (0,0,1) )
 
+  Vector          prevRelCoordinate;  //!< The last Relative Coordinate from the last update-Cycle.
+  Vector          lastAbsCoordinate;  //!< this is used for speedcalculation, it stores the last coordinate
+  Quaternion      prevRelDirection;   //!< The last Relative Direciton from the last update-Cycle.
+//  Quaternion      lastAbsDirection;
+
   Vector          velocity;           //!< Saves the velocity.
-  Vector          lastAbsCoordinate;  //!< this is used for speedcalculation, it stores the last coordinate
-
 
   Vector*         toCoordinate;       //!< a position to which to iterate. (This is used in conjunction with softReparent.and set*CoorSoft)