1 files changed, 5 insertions, 37 deletions

diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp
index 1fadbdadfa0..a3285b19116 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp
+++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_MotionState.cpp
@@ -29,7 +29,7 @@
  *
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  */
-#include <MT_Scalar.h>
+
 #include <MT_Vector3.h>
 #include <MT_Quaternion.h>
  
@@ -56,47 +56,15 @@ void SM_MotionState::integrateForward(MT_Scalar timeStep, const SM_MotionState &
 	m_orn.normalize();
 }
 
-/*
-// Newtonian lerp: interpolate based on Newtonian motion
-void SM_MotionState::nlerp(const SM_MotionState &prev, const SM_MotionState &next)
-{
-	MT_Scalar dt = next.getTime() - prev.getTime();
-	MT_Scalar t = getTime() - prev.getTime();
-	MT_Vector3 dx = next.getPosition() - prev.getPosition();
-	MT_Vector3 a = dx/(dt*dt) - prev.getLinearVelocity()/dt;
-	
-	m_pos = prev.getPosition() + prev.getLinearVelocity()*t + a*t*t;
-}
-*/
-
-void SM_MotionState::lerp(const SM_MotionState &prev, const SM_MotionState &next)
-{
-	MT_Scalar dt = next.getTime() - prev.getTime();
-	if (MT_fuzzyZero(dt))
-	{
-		*this = next;
-		return;
-	}
-	
-	MT_Scalar x = (getTime() - prev.getTime())/dt;
-	
-	m_pos = x*next.getPosition() + (1-x)*prev.getPosition();
-	
-	m_orn = prev.getOrientation().slerp(next.getOrientation(), 1-x);
-	
-	m_lin_vel = x*next.getLinearVelocity() + (1-x)*prev.getLinearVelocity();
-	m_ang_vel = x*next.getAngularVelocity() + (1-x)*prev.getAngularVelocity();
-}
-
 void SM_MotionState::lerp(MT_Scalar t, const SM_MotionState &other)
 {
 	MT_Scalar x = (t - getTime())/(other.getTime() - getTime());
-	m_pos = (1-x)*m_pos + x*other.getPosition();
+	m_pos = x*m_pos + (1-x)*other.getPosition();
 	
-	m_orn =  other.getOrientation().slerp(m_orn, x);
+	m_orn = m_orn.slerp(other.getOrientation(), x);
 	
-	m_lin_vel = (1-x)*m_lin_vel + x*other.getLinearVelocity();
-	m_ang_vel = (1-x)*m_ang_vel + x*other.getAngularVelocity();
+	m_lin_vel = x*m_lin_vel + (1-x)*other.getLinearVelocity();
+	m_ang_vel = x*m_ang_vel + (1-x)*other.getAngularVelocity();
 	
 	m_time = t;
 }