Changeset 9639 in orxonox.OLD for branches/proxy/src/lib/math/quaternion.cc

Timestamp:

Jul 31, 2006, 9:30:52 AM (18 years ago)

Author:

bensch

Message:

orxonox/trunk: tmuch better lookAt implementation, so that the Turrets are really aiming at the designated target.

File:

• branches/proxy/src/lib/math/quaternion.cc (modified) (2 diffs)

branches/proxy/src/lib/math/quaternion.cc

@@ -336 +336 @@
   // check the diagonal
   float tr = mat[0][0] + mat[1][1] + mat[2][2];
-  if( tr > 0.0f) {
+  if( tr > 0.0f)
+  {
     float s = (float)sqrtf(tr + 1.0f);
     this->w = s * 0.5f;
@@ -372 +373 @@
 }
 
+Quaternion Quaternion::lookAt(Vector from, Vector to, Vector up)
+{
+  Vector n = to - from;
+  n.normalize();
+  Vector v = n.cross(up);
+  v.normalize();
+  Vector u = v.cross(n);
+
+  float matrix[3][3];
+  matrix[0][0] = v.x;
+  matrix[0][1] = v.y;
+  matrix[0][2] = v.z;
+  matrix[1][0] = u.x;
+  matrix[1][1] = u.y;
+  matrix[1][2] = u.z;
+  matrix[2][0] = -n.x;
+  matrix[2][1] = -n.y;
+  matrix[2][2] = -n.z;
+
+  Quaternion quat;
+  quat.from3x3(matrix);
+  return quat;
+}
+
+
 /**
  * @brief outputs some nice formated debug information about this quaternion