[Teleus-cvs] teleus/src/math vector.cpp,1.15,1.16 vector.hpp,1.12,1.13

[<sp...@us...>]

Update of /cvsroot/teleus/teleus/src/math
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv8511/src/math

Modified Files:
	vector.cpp vector.hpp 
Log Message:
Modified Vector4d::multAndSet() to use the named variables instead of the array.  I 
don't know why I used an array in the first place, but it was a potential bug waiting to
happen.

Index: vector.cpp
===================================================================
RCS file: /cvsroot/teleus/teleus/src/math/vector.cpp,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** vector.cpp	25 Feb 2004 06:34:00 -0000	1.15
--- vector.cpp	11 Mar 2004 03:14:43 -0000	1.16
***************
*** 941,949 ****
  void Vector4d::normalize (){
  
! 	double l = this->length();
! 	this->w = this->w / l;
! 	this->x = this->x / l;
! 	this->y = this->y / l;
! 	this->z = this->z / l;
  }
  
--- 941,949 ----
  void Vector4d::normalize (){
  
! 	double l = length();
! 	w /= l;
! 	x /= l;
! 	y /= l;
! 	z /= l;
  }
  
***************
*** 1051,1054 ****
--- 1051,1075 ----
  {
  
+ 	w =	v2.w * v1.w -
+ 			v2.x * v1.x -
+ 			v2.y * v1.y -
+ 			v2.z * v1.z;
+ 
+ 	x =	v2.w * v1.x +
+ 			v2.x * v1.w +
+ 			v2.y * v1.z -
+ 			v2.z * v1.y;
+ 
+ 	y =	v2.w * v1.y -
+ 			v2.x * v1.z +
+ 			v2.y * v1.w +
+ 			v2.z * v1.x;
+ 
+ 	z =	v2.w * v1.z +
+ 			v2.x * v1.y -
+ 			v2.y * v1.x +
+ 			v2.z * v1.w;
+ 
+ #if 0
  	w = v2.v[0] * v1.v[0] -
  		v2.v[1] * v1.v[1] -
***************
*** 1070,1073 ****
--- 1091,1095 ----
  		v2.v[2] * v1.v[1] +
  		v2.v[3] * v1.v[0];
+ #endif
  }
  
***************
*** 1261,1266 ****
   * \li \f$ \vec{t} \f$ is the resultant quaternion (\c this quaternion after this method is completed).
   * \li \f$ \vec{q} \f$ is the original quaternion (\c this quaternion before this method).
!  * \li \f$ \overline{\vec{q}} \f$ is the conjugate of \$f \vec{q} \f$.
!  * \li \f$ |\vec{q}| \f$ is the magnitude of the quaternion \$f \vec{q} \f$.
   *
   * \author Daniel Royer
--- 1283,1288 ----
   * \li \f$ \vec{t} \f$ is the resultant quaternion (\c this quaternion after this method is completed).
   * \li \f$ \vec{q} \f$ is the original quaternion (\c this quaternion before this method).
!  * \li \f$ \overline{\vec{q}} \f$ is the conjugate of \f$ \vec{q} \f$.
!  * \li \f$ |\vec{q}| \f$ is the magnitude of the quaternion \f$ \vec{q} \f$.
   *
   * \author Daniel Royer

Index: vector.hpp
===================================================================
RCS file: /cvsroot/teleus/teleus/src/math/vector.hpp,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** vector.hpp	25 Feb 2004 02:23:26 -0000	1.12
--- vector.hpp	11 Mar 2004 03:14:44 -0000	1.13
***************
*** 139,143 ****
  		double v[4];
  		struct {
- 			// If you modifiy this order, change multiplyAndSet, too.
  			double w, x, y, z;
  		};
--- 139,142 ----