Revision: 2531
http://rigsofrods.svn.sourceforge.net/rigsofrods/?rev=2531&view=rev
Author: ulteq
Date: 2012-05-09 00:28:05 +0000 (Wed, 09 May 2012)
Log Message:
-----------
-Codechange: Replaced Ogre::Vector3::normalise() with fast_normalize() from
approxmath.h
Modified Paths:
--------------
trunk/source/main/physics/flex/FlexBody.cpp
Modified: trunk/source/main/physics/flex/FlexBody.cpp
===================================================================
--- trunk/source/main/physics/flex/FlexBody.cpp 2012-05-09 00:09:21 UTC (rev
2530)
+++ trunk/source/main/physics/flex/FlexBody.cpp 2012-05-09 00:28:05 UTC (rev
2531)
@@ -438,19 +438,23 @@
}
#endif // 0
- Vector3
vz=(nodes[locs[i].nx].smoothpos-nodes[locs[i].ref].smoothpos).crossProduct(nodes[locs[i].ny].smoothpos-nodes[locs[i].ref].smoothpos);
- vz.normalise();
+ // If something unexpected happens here, then
+ // replace fast_normalise(a) with a.normalisedCopy()
+
Matrix3 mat;
- mat.SetColumn(0,
nodes[locs[i].nx].smoothpos-nodes[locs[i].ref].smoothpos);
- mat.SetColumn(1,
nodes[locs[i].ny].smoothpos-nodes[locs[i].ref].smoothpos);
-// mat.SetColumn(2,
nodes[locs[i].nz].smoothpos-nodes[locs[i].ref].smoothpos);
- mat.SetColumn(2, vz);
- mat=mat.Inverse();
+ Vector3 diffX =
nodes[locs[i].nx].smoothpos-nodes[locs[i].ref].smoothpos;
+ Vector3 diffY =
nodes[locs[i].ny].smoothpos-nodes[locs[i].ref].smoothpos;
- //compute coordinates in the newly formed euclidian basis
- locs[i].coords=mat*(vertices[i]-nodes[locs[i].ref].smoothpos);
+ mat.SetColumn(0, diffX);
+ mat.SetColumn(1, diffY);
+ mat.SetColumn(2, fast_normalise(diffX.crossProduct(diffY))); //
Old version: mat.SetColumn(2, nodes[loc.nz].smoothpos-nodes[loc.ref].smoothpos);
- //thats it!
+ mat = mat.Inverse();
+
+ //compute coordinates in the newly formed Euclidean basis
+ locs[i].coords= mat * (vertices[i] -
nodes[locs[i].ref].smoothpos);
+
+ // that's it!
}
//shadow
@@ -508,19 +512,22 @@
}
#endif //0
+ // If something unexpected happens here, then
+ // replace fast_normalise(a) with a.normalisedCopy()
for (int i=0; i<(int)vertex_count; i++)
{
- Vector3
vz=(nodes[locs[i].nx].smoothpos-nodes[locs[i].ref].smoothpos).crossProduct(nodes[locs[i].ny].smoothpos-nodes[locs[i].ref].smoothpos);
- vz.normalise();
Matrix3 mat;
- mat.SetColumn(0,
nodes[locs[i].nx].smoothpos-nodes[locs[i].ref].smoothpos);
- mat.SetColumn(1,
nodes[locs[i].ny].smoothpos-nodes[locs[i].ref].smoothpos);
-// mat.SetColumn(2,
nodes[locs[i].nz].smoothpos-nodes[locs[i].ref].smoothpos);
- mat.SetColumn(2, vz);
- mat=mat.Inverse();
+ Vector3 diffX =
nodes[locs[i].nx].smoothpos-nodes[locs[i].ref].smoothpos;
+ Vector3 diffY =
nodes[locs[i].ny].smoothpos-nodes[locs[i].ref].smoothpos;
- //compute coordinates in the euclidian basis
- srcnormals[i]=mat*(orientation*srcnormals[i]);
+ mat.SetColumn(0, diffX);
+ mat.SetColumn(1, diffY);
+ mat.SetColumn(2, fast_normalise(diffX.crossProduct(diffY))); //
Old version: mat.SetColumn(2, nodes[loc.nz].smoothpos-nodes[loc.ref].smoothpos);
+
+ mat = mat.Inverse();
+
+ // compute coordinates in the Euclidean basis
+ srcnormals[i] = mat*(orientation * srcnormals[i]);
}
LOG("FLEXBODY ready");
@@ -603,40 +610,42 @@
Vector3 FlexBody::flexit()
{
- if(faulty) return Vector3::ZERO;
- if(!enabled) return Vector3::ZERO;
+ if (faulty) return Vector3::ZERO;
+ if (!enabled) return Vector3::ZERO;
if (hasblend) updateBlend();
- //compute the local center
-
+
+ // compute the local center
Vector3 normal;
Vector3 center;
+
if(cref >= 0)
{
-
normal=(nodes[cy].smoothpos-nodes[cref].smoothpos).crossProduct(nodes[cx].smoothpos-nodes[cref].smoothpos);
- normal.normalise();
-
center=nodes[cref].smoothpos+coffset.x*(nodes[cx].smoothpos-nodes[cref].smoothpos)+coffset.y*(nodes[cy].smoothpos-nodes[cref].smoothpos);
- center=(center+normal*coffset.z);
+ Vector3 diffX = nodes[cx].smoothpos-nodes[cref].smoothpos;
+ Vector3 diffY = nodes[cy].smoothpos-nodes[cref].smoothpos;
+ normal = diffY.crossProduct(diffX).normalisedCopy();
+
+ center = nodes[cref].smoothpos + coffset.x*diffX +
coffset.y*diffY;
+ center = center + coffset.z*normal;
} else
{
normal = Vector3::UNIT_Y;
center = nodes[0].smoothpos;
}
- //okay
+ // If something unexpected happens here, then
+ // replace fast_normalise(a) with a.normalisedCopy()
for (int i=0; i<(int)vertex_count; i++)
{
- Locator_t *loc=&locs[i];
Matrix3 mat;
- mat.SetColumn(0,
nodes[loc->nx].smoothpos-nodes[loc->ref].smoothpos);
- mat.SetColumn(1,
nodes[loc->ny].smoothpos-nodes[loc->ref].smoothpos);
-// mat.SetColumn(2,
nodes[loc->nz].smoothpos-nodes[loc->ref].smoothpos);
- Vector3
vz=(nodes[loc->nx].smoothpos-nodes[loc->ref].smoothpos).crossProduct(nodes[loc->ny].smoothpos-nodes[loc->ref].smoothpos);
- vz.normalise();
- mat.SetColumn(2, vz);
+ Vector3 diffX =
nodes[locs[i].nx].smoothpos-nodes[locs[i].ref].smoothpos;
+ Vector3 diffY =
nodes[locs[i].ny].smoothpos-nodes[locs[i].ref].smoothpos;
- dstpos[i]=mat*loc->coords+nodes[loc->ref].smoothpos-center;
- dstnormals[i]=mat*srcnormals[i];
- dstnormals[i].normalise(); //painfull but necessary!
+ mat.SetColumn(0, diffX);
+ mat.SetColumn(1, diffY);
+ mat.SetColumn(2, fast_normalise(diffX.crossProduct(diffY))); //
Old version: mat.SetColumn(2, nodes[loc.nz].smoothpos-nodes[loc.ref].smoothpos);
+
+ dstpos[i] = mat * locs[i].coords + nodes[locs[i].ref].smoothpos
- center;
+ dstnormals[i] = fast_normalise(mat * srcnormals[i]);
}
Vector3 *ppt=dstpos;
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