ApfelTeeSaft/vb01
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changed pose orientation calculation

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This commit is contained in:
devZoGok
2021-10-19 19:06:41 +03:00
parent d430bc6fc0
commit 756c58fc89
7 changed files with 45 additions and 28 deletions
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node.cpp
+17 -13
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@@ -191,7 +191,7 @@ namespace vb01{
float rotAngle = orientation.getAngle();
Vector3 rotAxis = orientation.getAxis();
Vector3 newAxis = (parGlobalAxis[0] * rotAxis.x + parGlobalAxis[1] * rotAxis.y + parGlobalAxis[2] * rotAxis.z).norm();
Quaternion rotQuat=Quaternion(rotAngle,newAxis);
Quaternion rotQuat=Quaternion(rotAngle, newAxis);
for(int i = 0; i < 3; i++)
globalAxis[i] = (rotQuat * parGlobalAxis[i]).norm();
@@ -239,31 +239,35 @@ namespace vb01{
}
Quaternion Node::adjustRot(vector<Node*> ancestors, Quaternion adjustableRot, bool localToGlobal){
Quaternion rOrigin = localToGlobal ? Quaternion::QUAT_W : adjustableRot;
Quaternion rOrigin = adjustableRot;
while(!ancestors.empty()){
int id = ancestors.size() - 1;
Vector3 parAxis[]{
ancestors[id]->getGlobalAxis(0),
ancestors[id]->getGlobalAxis(1),
ancestors[id]->getGlobalAxis(2)
};
int id = localToGlobal ? 0 : ancestors.size() - 1;
float angle = ancestors[id]->getOrientation().getAngle();
Vector3 axis = ancestors[id]->getOrientation().getAxis();
Vector3 rotAxis = (parAxis[0] * axis.x + parAxis[1] * axis.y + parAxis[2] * axis.z).norm();
Quaternion o;
if(localToGlobal){
o = Quaternion(angle, rotAxis);
rOrigin = o * rOrigin;
Node *par = ancestors[id]->getParent();
Vector3 parAxis[]{
par?par->getGlobalAxis(0):Vector3::VEC_I,
par?par->getGlobalAxis(1):Vector3::VEC_J,
par?par->getGlobalAxis(2):Vector3::VEC_K
};
axis = (parAxis[0] * axis.x + parAxis[1] * axis.y + parAxis[2] * axis.z).norm();
o = Quaternion(angle, axis);
rOrigin = rOrigin * o;
ancestors.erase(ancestors.begin());
}
else{
o = Quaternion(-angle, rotAxis);
o = Quaternion(angle, axis).conj();
rOrigin = rOrigin * o;
ancestors.pop_back();
}
ancestors.pop_back();
}
return rOrigin;