Changeset 7191 in orxonox.OLD for trunk/src/lib/math/quaternion.cc

Timestamp:

Mar 1, 2006, 10:30:06 AM (18 years ago)

Author:

bensch

Message:

orxonox/trunk: some better and faster slerp functions

File:

• trunk/src/lib/math/quaternion.cc (modified) (1 diff)

trunk/src/lib/math/quaternion.cc

@@ -131 +131 @@
   m[2][3] = 0; m[3][3] = 1;
 }
+
+
+/**
+ * Slerps this QUaternion performs a smooth move.
+ * @param toQuat to this Quaternion
+ * @param t \% inth the the direction[0..1]
+ */
+void Quaternion::slerpTo(const Quaternion& toQuat, float t)
+{
+  float tol[4];
+  double omega, cosom, sinom, scale0, scale1;
+  //  float DELTA = 0.2;
+
+  cosom = this->v.x * toQuat.v.x + this->v.y * toQuat.v.y + this->v.z * toQuat.v.z + this->w * toQuat.w;
+
+  if( cosom < 0.0 )
+  {
+    cosom = -cosom;
+    tol[0] = -toQuat.v.x;
+    tol[1] = -toQuat.v.y;
+    tol[2] = -toQuat.v.z;
+    tol[3] = -toQuat.w;
+  }
+  else
+  {
+    tol[0] = toQuat.v.x;
+    tol[1] = toQuat.v.y;
+    tol[2] = toQuat.v.z;
+    tol[3] = toQuat.w;
+  }
+
+  omega = acos(cosom);
+  sinom = sin(omega);
+  scale0 = sin((1.0 - t) * omega) / sinom;
+  scale1 = sin(t * omega) / sinom;
+  this->v = Vector(scale0 * this->v.x + scale1 * tol[0],
+                    scale0 * this->v.y + scale1 * tol[1],
+                    scale0 * this->v.z + scale1 * tol[2]);
+  this->w = scale0 * this->w + scale1 * tol[3];
+}
+
 
 /**