mirror/panda3d
1
0
Fork 0
mirror of https://github.com/panda3d/panda3d.git synced 2026-05-12 17:48:49 -05:00
Code Issues Packages Projects Releases Wiki Activity

minor changes

Browse Source
This commit is contained in:
Dave Schuyler
2004-10-16 00:38:56 +00:00
parent a44e372fa5
commit 2b3aa5cf31
3 changed files with 16 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
panda/src/linmath/lquaternion_src.I
+4 -6
View File
@@ -324,15 +324,13 @@ set_k(FLOATTYPE k) {
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LQuaternion)::
normalize() {
FLOATTYPE l2 = (*this).dot(*this);
if (l2 == (FLOATTYPE)0.0f) {
FLOATTYPE length_squared = (*this).dot(*this);
if (length_squared == (FLOATTYPE)0.0f) {
set(0.0f, 0.0f, 0.0f, 0.0f);
return false;
} else if (!IS_THRESHOLD_EQUAL(l2, 1.0f, NEARLY_ZERO(FLOATTYPE) * NEARLY_ZERO(FLOATTYPE))) {
(*this) /= csqrt(l2);
} else if (!IS_THRESHOLD_EQUAL(length_squared, 1.0f, NEARLY_ZERO(FLOATTYPE))) {
(*this) /= csqrt(length_squared);
}
return true;
}
panda/src/physics/angularEulerIntegrator.cxx
+4 -4
View File
@@ -109,6 +109,7 @@ child_integrate(Physical *physical,
// tally it into the accum vector, applying the inertial tensor.
accum_vec += f;
cerr<<"global accum_vec"<<accum_vec<<"\n";
}
// local forces
@@ -129,6 +130,7 @@ child_integrate(Physical *physical,
// tally it into the accum vectors
accum_vec += f;
cerr<<"local accum_vec"<<accum_vec<<"\n";
}
assert(index == matrices.size());
@@ -136,10 +138,12 @@ child_integrate(Physical *physical,
// this matrix represents how much force the object 'wants' applied to it
// in any direction, among other things.
accum_vec = accum_vec * current_object->get_inertial_tensor();
cerr<<"tensor applied accum_vec"<<accum_vec<<"\n";
// derive this into the angular velocity vector.
LVector3f rot_vec = current_object->get_rotation();
rot_vec += accum_vec * dt;
cerr<<"accum_vec * dt"<<(accum_vec * dt)<<"\n";
// here's the trick. we've been accumulating these forces as vectors
// and treating them as vectors, but now we're going to treat them as pure
@@ -152,14 +156,10 @@ child_integrate(Physical *physical,
LVector3f normalized_rot_vec = rot_vec;
normalized_rot_vec *= 1.0f / len;
LRotationf rot_quat = LRotationf(normalized_rot_vec, len);
assert(!(rot_quat[0]==0.0f && rot_quat[1]==0.0f && rot_quat[2]==0.0f && rot_quat[3]==0.0f));
LOrientationf old_orientation = current_object->get_orientation();
assert(!(old_orientation[0]==0.0f && old_orientation[1]==0.0f && old_orientation[2]==0.0f && old_orientation[3]==0.0f));
LOrientationf new_orientation = old_orientation * rot_quat;
assert(!(new_orientation[0]==0.0f && new_orientation[1]==0.0f && new_orientation[2]==0.0f && new_orientation[3]==0.0f));
new_orientation.normalize();
assert(!(new_orientation[0]==0.0f && new_orientation[1]==0.0f && new_orientation[2]==0.0f && new_orientation[3]==0.0f));
// and write the results back.
current_object->set_orientation(new_orientation);
panda/src/physics/forceNode.cxx
+8 -5
View File
@@ -131,11 +131,12 @@ output(ostream &out) const {
void ForceNode::
write_forces(ostream &out, unsigned int indent) const {
#ifndef NDEBUG //[
out.width(indent); out<<""<<"_forces\n";
out.width(indent); out<<""<<"_forces ("<<_forces.size()<<" forces)"<<"\n";
for (ForceVector::const_iterator i=_forces.begin();
i != _forces.end();
++i) {
(*i)->write(out, indent+2);
out.width(indent+2); out<<""; out<<"(id "<<&(*i)<<" "<<(*i)->is_linear()<<")\n";
//#*#(*i)->write(out, indent+2);
}
#endif //] NDEBUG
}
@@ -149,8 +150,10 @@ write_forces(ostream &out, unsigned int indent) const {
void ForceNode::
write(ostream &out, unsigned int indent) const {
#ifndef NDEBUG //[
out.width(indent); out<<""; out<<"ForceNode\n";
write_forces(out, indent+2);
//PandaNode::write(out, indent+2);
out.width(indent); out<<""; out<<"ForceNode (id "<<this<<") ";
//#*#PandaNode::output(out);
out<<"\n";
//#*#write_forces(out, indent+2);
PandaNode::write(out, indent+4);
#endif //] NDEBUG
}