When the t = 1 is reached, the agent still cannot get to the correct orientation.....
I am not sure should I put the initial direction vector at (0,0,1), because I calculate the directional vector every frame in
the world matrix in the Update function, the directional vector is then extracted as
m[13], m[23], m[33] in that frame.
D3DXQUATERNION qFinal, qStart, qEnd;
float fOldDir = l_transform->m_MotionInfo.fStartDir;
float fNewDir = l_transform->m_MotionInfo.fEndDir;
D3DXQuaternionRotationYawPitchRoll(&qStart, fOldDir, 0, 0);
D3DXQuaternionRotationYawPitchRoll(&qEnd, fNewDir, 0, 0);
D3DXQuaternionSlerp(&qFinal, &qStart, &qEnd, l_transform->m_MotionInfo.fS);
D3DXVECTOR3 finalDir;
D3DXVECTOR3 baseDir(1, 0, 0);
D3DXMATRIX matDir;
D3DXMatrixRotationQuaternion(&matDir, &qFinal);
D3DXVec3TransformCoord(&finalDir, &baseDir, &matDir);
l_transform->setRotation(D3DXVECTOR3(finalDir.x, 0, 0));
l_transform->setPosition(currPoss);
TRACE("t:" << l_transform->m_MotionInfo.fS);
TRACE("Desired Orientation: " << fNewDir);
TRACE("Instant. Orientation: " << finalDir.x);
TRACE("=====\n")
So the initial direction is at 0
So the interpolator is chasing 0.0862636
at time 1 it is at 0.99
therefore
0 => 0.08
and at 1, it is at
(0.99, 0, 0)
Perhaps it is turning a larger circle?
t:0.00607012 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 1 ===== t:0.0128147 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999999 ===== t:0.0202337 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999998 ===== t:0.0276528 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999997 ===== t:0.0350718 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999995 ===== t:0.0424909 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999993 ===== t:0.0499099 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999991 ===== t:0.0566545 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999988 ===== t:0.0640735 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999985 ===== t:0.0714925 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999981 ===== t:0.0782371 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999977 ===== t:0.0856562 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999973 ===== t:0.0930752 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999968 ===== t:0.0998198 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999963 ===== t:0.107239 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999957 ===== t:0.113983 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999952 ===== t:0.121402 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999945 ===== t:0.128821 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999938 ===== t:0.135566 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999932 ===== t:0.142985 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999924 ===== t:0.14973 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999917 ===== t:0.157149 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999908 ===== t:0.164568 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999899 ===== t:0.171987 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99989 ===== t:0.179406 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99988 ===== t:0.18615 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999871 ===== t:0.192895 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999861 ===== t:0.19964 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999852 ===== t:0.207059 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99984 ===== t:0.214478 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999829 ===== t:0.221222 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999818 ===== t:0.228641 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999805 ===== t:0.235386 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999794 ===== t:0.242805 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999781 ===== t:0.249549 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999768 ===== t:0.256968 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999754 ===== t:0.263713 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999741 ===== t:0.271132 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999726 ===== t:0.277877 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999713 ===== t:0.285296 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999697 ===== t:0.292715 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999681 ===== t:0.299459 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999666 ===== t:0.306878 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99965 ===== t:0.314297 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999632 ===== t:0.321042 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999617 ===== t:0.328461 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999599 ===== t:0.335206 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999582 ===== t:0.342625 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999563 ===== t:0.349369 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999546 ===== t:0.356788 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999526 ===== t:0.364207 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999506 ===== t:0.370952 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999488 ===== t:0.378371 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999467 ===== t:0.385116 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999448 ===== t:0.392535 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999427 ===== t:0.399279 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999407 ===== t:0.406024 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999387 ===== t:0.413443 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999364 ===== t:0.420862 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999341 ===== t:0.427607 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99932 ===== t:0.435026 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999296 ===== t:0.44177 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999274 ===== t:0.449189 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999249 ===== t:0.455934 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999227 ===== t:0.463353 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999201 ===== t:0.470098 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999178 ===== t:0.477517 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999152 ===== t:0.484261 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999128 ===== t:0.49168 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999101 ===== t:0.499099 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999073 ===== t:0.505844 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.999048 ===== t:0.513263 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99902 ===== t:0.520682 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998991 ===== t:0.528101 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998962 ===== t:0.53552 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998933 ===== t:0.542939 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998903 ===== t:0.549684 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998876 ===== t:0.557103 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998845 ===== t:0.563847 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998817 ===== t:0.570592 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998789 ===== t:0.578011 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998757 ===== t:0.58543 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998725 ===== t:0.592175 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998695 ===== t:0.599594 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998663 ===== t:0.606338 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998632 ===== t:0.613083 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998602 ===== t:0.620502 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998568 ===== t:0.627246 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998536 ===== t:0.634665 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998502 ===== t:0.64141 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99847 ===== t:0.648154 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998437 ===== t:0.655574 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998401 ===== t:0.662318 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998368 ===== t:0.669063 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998335 ===== t:0.677831 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998291 ===== t:0.684575 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998257 ===== t:0.69132 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998222 ===== t:0.698739 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998184 ===== t:0.705483 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998149 ===== t:0.712902 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99811 ===== t:0.719647 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998074 ===== t:0.727066 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.998034 ===== t:0.734485 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997993 ===== t:0.74123 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997956 ===== t:0.748649 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997915 ===== t:0.756068 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997874 ===== t:0.763487 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997832 ===== t:0.770906 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99779 ===== t:0.778325 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997747 ===== t:0.785069 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997708 ===== t:0.792489 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997664 ===== t:0.799233 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997624 ===== t:0.806652 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99758 ===== t:0.813397 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997539 ===== t:0.820141 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997498 ===== t:0.828235 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997449 ===== t:0.834979 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997407 ===== t:0.841724 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997365 ===== t:0.849143 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997318 ===== t:0.855887 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997276 ===== t:0.863307 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997228 ===== t:0.870051 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997185 ===== t:0.87747 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997137 ===== t:0.884215 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997092 ===== t:0.890959 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.997048 ===== t:0.898378 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996999 ===== t:0.905123 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996953 ===== t:0.912542 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996903 ===== t:0.919961 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996853 ===== t:0.926706 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996806 ===== t:0.934125 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996755 ===== t:0.940869 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996708 ===== t:0.948288 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996656 ===== t:0.955033 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996608 ===== t:0.962452 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996555 ===== t:0.969871 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996502 ===== t:0.97729 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996448 ===== t:0.984709 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996394 ===== t:0.991454 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996345 ===== t:0.998873 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.99629 ===== t:1 Start Orientation: 0 Desired Orientation: 0.0862636 Instant. Orientation: 0.996282 =====