yingtongwang/sensor-fusion-demo
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removed useless allocation into slerp()

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Cerrato Renaud
2016-09-12 13:09:35 -04:00
parent 9d32116e22
commit a1a1113e50
1 changed files with 9 additions and 11 deletions
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18
app/src/main/java/org/hitlabnz/sensor_fusion_demo/representation/Quaternion.java
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@@ -36,6 +36,7 @@ public class Quaternion extends Vector4f {
private boolean dirty = false;
private Vector4f tmpVector = new Vector4f();
private Quaternion tmpQuaternion;
/**
* Creates a new Quaternion object and initialises it with the identity Quaternion
@@ -122,16 +123,12 @@ public class Quaternion extends Vector4f {
* @param input
* @param output
*/
Quaternion bufferQuaternion;
public void multiplyByQuat(Quaternion input) {
if (bufferQuaternion == null) {
bufferQuaternion = new Quaternion();
}
this.dirty = true;
bufferQuaternion.copyVec4(this);
multiplyByQuat(input, bufferQuaternion);
this.copyVec4(bufferQuaternion);
if(tmpQuaternion == null) tmpQuaternion = new Quaternion();
tmpQuaternion.copyVec4(this);
multiplyByQuat(input, tmpQuaternion);
this.copyVec4(tmpQuaternion);
}
/**
@@ -468,11 +465,12 @@ public class Quaternion extends Vector4f {
public void slerp(Quaternion input, Quaternion output, float t) {
// Calculate angle between them.
//double cosHalftheta = this.dotProduct(input);
Quaternion bufferQuat = null;
Quaternion bufferQuat;
float cosHalftheta = this.dotProduct(input);
if (cosHalftheta < 0) {
bufferQuat = new Quaternion();
if(tmpQuaternion == null) tmpQuaternion = new Quaternion();
bufferQuat = tmpQuaternion;
cosHalftheta = -cosHalftheta;
bufferQuat.points[0] = (-input.points[0]);
bufferQuat.points[1] = (-input.points[1]);