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BGE: slow parent was causing scaling distortion, now use correct quaternion interpolation.

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This commit is contained in:
Benoit Bolsee
2009-04-16 20:13:13 +00:00
parent 32253dfaaf
commit 2c491b5d2e
2 changed files with 22 additions and 25 deletions
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26
intern/moto/include/MT_Quaternion.inl
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@@ -74,19 +74,27 @@ GEN_INLINE MT_Scalar MT_Quaternion::angle(const MT_Quaternion& q) const
GEN_INLINE MT_Quaternion MT_Quaternion::slerp(const MT_Quaternion& q, const MT_Scalar& t) const
{
MT_Scalar theta = angle(q);
if (!MT_fuzzyZero(theta))
MT_Scalar d, s0, s1;
MT_Scalar s = dot(q);
bool neg = (s < 0.0);
if (neg)
s = -s;
if ((1.0 - s) > 0.0001)
{
MT_Scalar d = MT_Scalar(1.0) / sin(theta);
MT_Scalar s0 = sin((MT_Scalar(1.0) - t) * theta);
MT_Scalar s1 = sin(t * theta);
return d*(*this * s0 + q * s1);
MT_Scalar theta = acos(s);
d = MT_Scalar(1.0) / sin(theta);
s0 = sin((MT_Scalar(1.0) - t) * theta);
s1 = sin(t * theta);
}
else
{
return *this;
d = MT_Scalar(1.0);
s0 = MT_Scalar(1.0) - t;
s1 = t;
}
if (neg)
s1 = -s1;
return d*(*this * s0 + q * s1);
}

21
source/gameengine/Ketsji/KX_SG_NodeRelationships.cpp
View File

@@ -235,23 +235,12 @@ UpdateChildCoordinates(
// now 'interpolate' the normal coordinates with the last
// world coordinates to get the new world coordinates.
// problem 1:
// The child world scale needs to be initialized in some way for this
// to make sense
// problem 2:
// This is way of doing interpolation is nonsense
int i;
MT_Scalar weight = MT_Scalar(1)/(m_relax + 1);
for (i=0;i <3 ;i++) {
child_w_scale[i] = (m_relax * child_w_scale[i] + child_n_scale[i]) * weight;
child_w_pos[i] = (m_relax * child_w_pos[i] + child_n_pos[i]) * weight;
child_w_rotation[0][i] = (m_relax * child_w_rotation[0][i] + child_n_rotation[0][i]) * weight;
child_w_rotation[1][i] = (m_relax * child_w_rotation[1][i] + child_n_rotation[1][i]) * weight;
child_w_rotation[2][i] = (m_relax * child_w_rotation[2][i] + child_n_rotation[2][i]) * weight;
}
child_w_scale = (m_relax * child_w_scale + child_n_scale) * weight;
child_w_pos = (m_relax * child_w_pos + child_n_pos) * weight;
// for rotation we must go through quaternion
MT_Quaternion child_w_quat = child_w_rotation.getRotation().slerp(child_n_rotation.getRotation(), weight);
child_w_rotation.setRotation(child_w_quat);
//FIXME: update physics controller.
} else {
child_w_scale = child_n_scale;