Changeset 6616 in orxonox.OLD for trunk/src/lib/coord/p_node.cc

Timestamp:

Jan 19, 2006, 12:27:45 PM (18 years ago)

Author:

bensch

Message:

orxonox/trunk: taken the quaternion outside of Vector.cc to quaternion.cc/h

File:

• trunk/src/lib/coord/p_node.cc (modified) (6 diffs)

trunk/src/lib/coord/p_node.cc

@@ -214 +214 @@
 
   *this->toCoordinate = relCoordSoft;
+  this->toStep = 0.0f;
   this->bias = bias;
 }
@@ -299 +300 @@
       *this->toCoordinate = absCoordSoft;
   }
+  this->toStep = 0.0f;
 }
 
@@ -370 +372 @@
   *this->toDirection = relDirSoft;
   this->bias = bias;
+  this->toStep = 0.0f;
   this->bRelDirChanged = true;
 }
@@ -439 +442 @@
 
   this->bias = bias;
+  this->toStep = 0.0f;
   this->bRelDirChanged = true;
 }
@@ -614 +618 @@
   }
   this->bias = bias;
-
+  this->toStep = 0.0f;
 
   Vector tmpV = this->getAbsCoor();
@@ -743 +747 @@
         if (unlikely(this->toDirection != NULL))
         {
-          Quaternion rotQuat = Quaternion::quatSlerp(this->relDirection,*this->toDirection, fabsf(dt)*this->bias);
+          this->toStep += fabs(dt) * bias;
+          printf("%s::%s %f\n", this->getClassName(), this->getName(), this->toStep );
+          Quaternion rotQuat = Quaternion::quatSlerp(this->relDirection,*this->toDirection, toStep);
           if (this->relDirection.distance(rotQuat) >PNODE_ITERATION_DELTA)
           {