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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
109 lines
3.1 KiB
C++
109 lines
3.1 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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#ifndef _CLASS_NODE
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#define _CLASS_NODE
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#include "LinearR3.h"
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enum Purpose
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{
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JOINT,
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EFFECTOR
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};
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class VectorR3;
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class Node
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{
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friend class Tree;
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public:
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Node(const VectorR3&, const VectorR3&, double, Purpose, double minTheta = -PI, double maxTheta = PI, double restAngle = 0.);
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void PrintNode();
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void InitNode();
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const VectorR3& GetAttach() const { return attach; }
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double GetTheta() const { return theta; }
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double AddToTheta(double& delta)
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{
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//double orgTheta = theta;
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theta += delta;
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#if 0
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if (theta < minTheta)
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theta = minTheta;
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if (theta > maxTheta)
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theta = maxTheta;
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double actualDelta = theta - orgTheta;
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delta = actualDelta;
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#endif
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return theta;
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}
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double UpdateTheta(double& delta)
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{
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theta = delta;
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return theta;
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}
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const VectorR3& GetS() const { return s; }
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const VectorR3& GetW() const { return w; }
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double GetMinTheta() const { return minTheta; }
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double GetMaxTheta() const { return maxTheta; }
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double GetRestAngle() const { return restAngle; };
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void SetTheta(double newTheta) { theta = newTheta; }
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void ComputeS(void);
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void ComputeW(void);
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bool IsEffector() const { return purpose == EFFECTOR; }
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bool IsJoint() const { return purpose == JOINT; }
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int GetEffectorNum() const { return seqNumEffector; }
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int GetJointNum() const { return seqNumJoint; }
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bool IsFrozen() const { return freezed; }
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void Freeze() { freezed = true; }
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void UnFreeze() { freezed = false; }
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//private:
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bool freezed; // Is this node frozen?
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int seqNumJoint; // sequence number if this node is a joint
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int seqNumEffector; // sequence number if this node is an effector
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double size; // size
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Purpose purpose; // joint / effector / both
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VectorR3 attach; // attachment point
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VectorR3 r; // relative position vector
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VectorR3 v; // rotation axis
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double theta; // joint angle (radian)
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double minTheta; // lower limit of joint angle
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double maxTheta; // upper limit of joint angle
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double restAngle; // rest position angle
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VectorR3 s; // GLobal Position
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VectorR3 w; // Global rotation axis
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Node* left; // left child
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Node* right; // right sibling
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Node* realparent; // pointer to real parent
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};
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#endif |