mirror of
https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
87 lines
2.4 KiB
C++
87 lines
2.4 KiB
C++
/*
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*
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* Mathematics Subpackage (VrMath)
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*
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*
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* Author: Samuel R. Buss, sbuss@ucsd.edu.
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* Web page: http://math.ucsd.edu/~sbuss/MathCG
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*
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*
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*
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*
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*/
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#include <math.h>
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#include "LinearR3.h"
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#include "MathMisc.h"
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#include "Node.h"
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extern int RotAxesOn;
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Node::Node(const VectorR3& attach, const VectorR3& v, double size, Purpose purpose, double minTheta, double maxTheta, double restAngle)
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{
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Node::freezed = false;
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Node::size = size;
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Node::purpose = purpose;
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seqNumJoint = -1;
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seqNumEffector = -1;
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Node::attach = attach; // Global attachment point when joints are at zero angle
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r.Set(0.0, 0.0, 0.0); // r will be updated when this node is inserted into tree
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Node::v = v; // Rotation axis when joints at zero angles
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theta = 0.0;
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Node::minTheta = minTheta;
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Node::maxTheta = maxTheta;
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Node::restAngle = restAngle;
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left = right = realparent = 0;
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}
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// Compute the global position of a single node
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void Node::ComputeS(void)
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{
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Node* y = this->realparent;
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Node* w = this;
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s = r; // Initialize to local (relative) position
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while (y)
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{
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s.Rotate(y->theta, y->v);
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y = y->realparent;
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w = w->realparent;
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s += w->r;
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}
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}
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// Compute the global rotation axis of a single node
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void Node::ComputeW(void)
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{
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Node* y = this->realparent;
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w = v; // Initialize to local rotation axis
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while (y)
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{
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w.Rotate(y->theta, y->v);
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y = y->realparent;
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}
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}
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void Node::PrintNode()
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{
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cerr << "Attach : (" << attach << ")\n";
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cerr << "r : (" << r << ")\n";
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cerr << "s : (" << s << ")\n";
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cerr << "w : (" << w << ")\n";
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cerr << "realparent : " << realparent->seqNumJoint << "\n";
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}
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void Node::InitNode()
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{
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theta = 0.0;
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} |