Revision: 41054
http://brlcad.svn.sourceforge.net/brlcad/?rev=41054&view=rev
Author: brlcad
Date: 2010-10-18 18:55:22 +0000 (Mon, 18 Oct 2010)
Log Message:
-----------
clean things up for Windows. remove all extern declarations of the bu_getopt
globals. remove all forward decls, for that matter, including a slew of
unnecessary ones provided by anim.h; reordering accordingly.
Modified Paths:
--------------
brlcad/trunk/src/anim/anim_cascade.c
brlcad/trunk/src/anim/anim_hardtrack.c
brlcad/trunk/src/anim/anim_keyread.c
brlcad/trunk/src/anim/anim_lookat.c
brlcad/trunk/src/anim/anim_orient.c
brlcad/trunk/src/anim/anim_script.c
brlcad/trunk/src/anim/anim_track.c
brlcad/trunk/src/anim/anim_turn.c
Modified: brlcad/trunk/src/anim/anim_cascade.c
===================================================================
--- brlcad/trunk/src/anim/anim_cascade.c 2010-10-18 18:46:09 UTC (rev
41053)
+++ brlcad/trunk/src/anim/anim_cascade.c 2010-10-18 18:55:22 UTC (rev
41054)
@@ -43,41 +43,122 @@
#include "common.h"
#include <math.h>
-#include <stdio.h>
+#include "bio.h"
-#include "vmath.h"
#include "bu.h"
#include "bn.h"
#include "anim.h"
+#include "vmath.h"
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
+#define OPT_STR "so:f:r:a:"
-#ifndef M_PI
-#define RTOD 180.000/M_PI
-#endif
-
#define CASCADE_A 0
#define CASCADE_R 1
#define CASCADE_F 2
-int get_args(int argc, char **argv);
-extern void anim_dy_p_r2mat(fastf_t *, double, double, double);
-extern void anim_tran(fastf_t *);
-extern int anim_mat2ypr(fastf_t *, fastf_t *);
-
-extern int bu_optind;
-extern char *bu_optarg;
-
vect_t fcenter, fypr, rcenter, rypr, acenter, aypr;
int cmd_fcen, cmd_fypr, cmd_rcen, cmd_rypr, cmd_acen, cmd_aypr;
int output_mode, read_time, print_time;
+
+int get_args(int argc, char **argv)
+{
+ int c, d;
+
+ output_mode = CASCADE_A;
+ cmd_fcen = cmd_fypr = cmd_rcen = cmd_rypr = cmd_acen = cmd_aypr = 0;
+ print_time = 1;
+ while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
+ switch (c) {
+ case 'f':
+ d = *(bu_optarg);
+ if (d == 'c') {
+ sscanf(argv[bu_optind], "%lf", fcenter+0);
+ sscanf(argv[bu_optind+1], "%lf", fcenter+1);
+ sscanf(argv[bu_optind+2], "%lf", fcenter+2);
+ bu_optind += 3;
+ cmd_fcen = 1;
+ break;
+ } else if ( d =='y') {
+ sscanf(argv[bu_optind], "%lf", fypr+0);
+ sscanf(argv[bu_optind+1], "%lf", fypr+1);
+ sscanf(argv[bu_optind+2], "%lf", fypr+2);
+ bu_optind += 3;
+ cmd_fypr = 1;
+ break;
+ } else {
+ fprintf(stderr, "anim_cascade: unknown option -f%c\n", d);
+ }
+ break;
+ case 'r':
+ d = *(bu_optarg);
+ if (d == 'c') {
+ sscanf(argv[bu_optind], "%lf", rcenter+0);
+ sscanf(argv[bu_optind+1], "%lf", rcenter+1);
+ sscanf(argv[bu_optind+2], "%lf", rcenter+2);
+ bu_optind += 3;
+ cmd_rcen = 1;
+ break;
+ } else if ( d =='y') {
+ sscanf(argv[bu_optind], "%lf", rypr+0);
+ sscanf(argv[bu_optind+1], "%lf", rypr+1);
+ sscanf(argv[bu_optind+2], "%lf", rypr+2);
+ bu_optind += 3;
+ cmd_rypr = 1;
+ break;
+ } else {
+ fprintf(stderr, "anim_cascade: unknown option -r%c\n", d);
+ }
+ break;
+ case 'a':
+ d = *(bu_optarg);
+ if (d == 'c') {
+ sscanf(argv[bu_optind], "%lf", acenter+0);
+ sscanf(argv[bu_optind+1], "%lf", acenter+1);
+ sscanf(argv[bu_optind+2], "%lf", acenter+2);
+ bu_optind += 3;
+ cmd_acen = 1;
+ break;
+ } else if ( d =='y') {
+ sscanf(argv[bu_optind], "%lf", aypr+0);
+ sscanf(argv[bu_optind+1], "%lf", aypr+1);
+ sscanf(argv[bu_optind+2], "%lf", aypr+2);
+ bu_optind += 3;
+ cmd_aypr = 1;
+ break;
+ } else {
+ fprintf(stderr, "anim_cascade: unknown option -a%c\n", d);
+ }
+ break;
+ case 'o':
+ d = *(bu_optarg);
+ if (d == 'r') {
+ output_mode = CASCADE_R;
+ } else if (d == 'f') {
+ output_mode = CASCADE_F;
+ } else if (d == 'a') {
+ /* default */
+ output_mode = CASCADE_A;
+ } else {
+ fprintf(stderr, "anim_cascade: unknown option -i%c\n", d);
+ }
+ break;
+ case 's':
+ print_time = 0;
+ break;
+ default:
+ fprintf(stderr, "anim_cascade: unknown option: -%c\n", c);
+ return 0;
+ }
+ }
+ return 1;
+}
+
+
int
-main (int argc, char **argv)
+main (int argc, char *argv[])
{
int val;
fastf_t time, yaw1, pitch1, roll1, yaw2, pitch2, roll2;
@@ -205,101 +286,7 @@
return 0;
}
-#define OPT_STR "so:f:r:a:"
-int get_args(int argc, char **argv)
-{
- int c, d;
-
- output_mode = CASCADE_A;
- cmd_fcen = cmd_fypr = cmd_rcen = cmd_rypr = cmd_acen = cmd_aypr = 0;
- print_time = 1;
- while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
- switch (c) {
- case 'f':
- d = *(bu_optarg);
- if (d == 'c') {
- sscanf(argv[bu_optind], "%lf", fcenter+0);
- sscanf(argv[bu_optind+1], "%lf", fcenter+1);
- sscanf(argv[bu_optind+2], "%lf", fcenter+2);
- bu_optind += 3;
- cmd_fcen = 1;
- break;
- } else if ( d =='y') {
- sscanf(argv[bu_optind], "%lf", fypr+0);
- sscanf(argv[bu_optind+1], "%lf", fypr+1);
- sscanf(argv[bu_optind+2], "%lf", fypr+2);
- bu_optind += 3;
- cmd_fypr = 1;
- break;
- } else {
- fprintf(stderr, "anim_cascade: unknown option -f%c\n", d);
- }
- break;
- case 'r':
- d = *(bu_optarg);
- if (d == 'c') {
- sscanf(argv[bu_optind], "%lf", rcenter+0);
- sscanf(argv[bu_optind+1], "%lf", rcenter+1);
- sscanf(argv[bu_optind+2], "%lf", rcenter+2);
- bu_optind += 3;
- cmd_rcen = 1;
- break;
- } else if ( d =='y') {
- sscanf(argv[bu_optind], "%lf", rypr+0);
- sscanf(argv[bu_optind+1], "%lf", rypr+1);
- sscanf(argv[bu_optind+2], "%lf", rypr+2);
- bu_optind += 3;
- cmd_rypr = 1;
- break;
- } else {
- fprintf(stderr, "anim_cascade: unknown option -r%c\n", d);
- }
- break;
- case 'a':
- d = *(bu_optarg);
- if (d == 'c') {
- sscanf(argv[bu_optind], "%lf", acenter+0);
- sscanf(argv[bu_optind+1], "%lf", acenter+1);
- sscanf(argv[bu_optind+2], "%lf", acenter+2);
- bu_optind += 3;
- cmd_acen = 1;
- break;
- } else if ( d =='y') {
- sscanf(argv[bu_optind], "%lf", aypr+0);
- sscanf(argv[bu_optind+1], "%lf", aypr+1);
- sscanf(argv[bu_optind+2], "%lf", aypr+2);
- bu_optind += 3;
- cmd_aypr = 1;
- break;
- } else {
- fprintf(stderr, "anim_cascade: unknown option -a%c\n", d);
- }
- break;
- case 'o':
- d = *(bu_optarg);
- if (d == 'r') {
- output_mode = CASCADE_R;
- } else if (d == 'f') {
- output_mode = CASCADE_F;
- } else if (d == 'a') {
- /* default */
- output_mode = CASCADE_A;
- } else {
- fprintf(stderr, "anim_cascade: unknown option -i%c\n", d);
- }
- break;
- case 's':
- print_time = 0;
- break;
- default:
- fprintf(stderr, "anim_cascade: unknown option: -%c\n", c);
- return 0;
- }
- }
- return 1;
-}
-
/*
* Local Variables:
* mode: C
Modified: brlcad/trunk/src/anim/anim_hardtrack.c
===================================================================
--- brlcad/trunk/src/anim/anim_hardtrack.c 2010-10-18 18:46:09 UTC (rev
41053)
+++ brlcad/trunk/src/anim/anim_hardtrack.c 2010-10-18 18:55:22 UTC (rev
41054)
@@ -27,18 +27,19 @@
#include "common.h"
-#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
-
#include "bio.h"
+
#include "vmath.h"
#include "bu.h"
#include "bn.h"
#include "anim.h"
+#define OPT_STR "b:d:f:i:l:pr:w:sg:m:c"
+
#define NW num_wheels
#define NEXT(i) (i+1)%NW
#define PREV(i) (i+NW-1)%NW
@@ -46,6 +47,7 @@
#define TRACK_ANIM 0
#define TRACK_ARCED 1
+
typedef double *pdouble;
struct wheel {
@@ -79,9 +81,6 @@
fastf_t ang; /* initial angle */
};
-/* external variables */
-extern int bu_optind;
-extern char *bu_optarg;
/* variables describing track geometry - used by main, trackprep, get_link */
struct all *x;
@@ -108,13 +107,197 @@
char wheel_cmd[10]; /* default is "lmul" */
int get_circumf; /* flag: just return circumference of track */
-int get_link(fastf_t *pos, fastf_t *angle_p, fastf_t dist);
+int get_link(fastf_t *pos, fastf_t *angle_p, fastf_t dist)
+{
+ int i;
+ vect_t temp;
+ while (dist >= tracklen) /*periodicize*/
+ dist -= tracklen;
+ while (dist < 0.0)
+ dist += tracklen;
+ for (i=0;i<NW;i++) {
+ if ( (dist -= x[i].t.len) < 0 ) {
+ VSCALE(temp, (x[i].t.dir), dist);
+ VADD2(pos, x[i].t.pos1, temp);
+ *angle_p = atan2(x[i].t.dir[2], x[i].t.dir[0]);
+ return 2*i;
+ }
+ if ((dist -= x[i].w.rad*x[i].w.arc) < 0) {
+ *angle_p = dist/x[i].w.rad;
+ *angle_p = x[i].w.ang1 - *angle_p; /*from x-axis to link*/
+ pos[0] = x[i].w.pos[0] + x[i].w.rad*cos(*angle_p);
+ pos[1] = x[i].w.pos[1];
+ pos[2] = x[i].w.pos[2] + x[i].w.rad*sin(*angle_p);
+ *angle_p -= M_PI_2; /*angle of clockwise tangent to circle*/
+ return 2*i+1;
+ }
+ }
+ return -1;
+}
+
+
+int get_args(int argc, char **argv)
+{
+ fastf_t yaw, pch, rll;
+ void anim_dx_y_z2mat(fastf_t *, double, double, double),
anim_dz_y_x2mat(fastf_t *, double, double, double);
+ int c, i;
+ axes = cent = links_placed = print_wheel = print_link = 0;
+ get_circumf = 0;
+ print_mode = TRACK_ANIM;
+ bu_strlcpy(link_cmd, "rarc", sizeof(link_cmd));
+ bu_strlcpy(wheel_cmd, "lmul", sizeof(wheel_cmd));
+ while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
+ i=0;
+ switch (c) {
+ case 'b':
+ bu_optind -= 1;
+ sscanf(argv[bu_optind+(i++)], "%lf", &yaw );
+ sscanf(argv[bu_optind+(i++)], "%lf", &pch );
+ sscanf(argv[bu_optind+(i++)], "%lf", &rll );
+ bu_optind += 3;
+ anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
+ anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
+ axes = 1;
+ break;
+ case 'd':
+ bu_optind -= 1;
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid);
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid+1);
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid+2);
+ bu_optind += 3;
+ VREVERSE(rcentroid, centroid);
+ cent = 1;
+ break;
+ case 'f':
+ sscanf(bu_optarg, "%d", &first_frame);
+ break;
+ case 'i':
+ sscanf(bu_optarg, "%lf", &init_dist);
+ break;
+ case 'p':
+ links_placed = 1;
+ break;
+ case 'r':
+ sscanf(bu_optarg, "%lf", &radius);
+ break;
+ case 'w':
+ wheel_nindex = bu_optind - 1;
+ /*sscanf(bu_optarg, "%s", wheel_name);*/
+ print_wheel = 1;
+ break;
+ case 'l':
+ sscanf(bu_optarg, "%d", &num_links);
+ link_nindex = bu_optind;
+ bu_optind += 1;
+ print_link = 1;
+ break;
+ case 's':
+ steer = 1;
+ break;
+ case 'g':
+ sscanf(bu_optarg, "%d", &arced_frame);
+ print_mode = TRACK_ARCED;
+ break;
+ case 'm':
+ switch (*bu_optarg) {
+ case 'l':
+ bu_strlcpy(link_cmd, argv[bu_optind], sizeof(link_cmd));
+ break;
+ case 'w':
+ bu_strlcpy(wheel_cmd, argv[bu_optind],
sizeof(wheel_cmd));
+ break;
+ default:
+ fprintf(stderr, "Unknown option: -m%c\n", *bu_optarg);
+ return 0;
+ }
+ bu_optind += 1;
+ break;
+ case 'c':
+ get_circumf = 1;
+ break;
+ default:
+ fprintf(stderr, "Unknown option: -%c\n", c);
+ return 0;
+ }
+ }
+ return 1;
+}
+
+
+int track_prep(void)/*run once at the beginning to establish important track
info*/
+{
+ int i;
+ fastf_t phi, costheta, link_angle, arc_angle;
+ vect_t difference, link_cent;
+
+ /* first loop - get inter axle slopes and start/end angles */
+ for (i=0;i<NW;i++) {
+ /*calculate current slope vector*/
+ VSUB2(x[i].s.dir, x[i].w.pos, x[PREV(i)].w.pos);
+ x[i].s.len = MAGNITUDE(x[i].s.dir);
+ /*calculate end angle of previous wheel - atan2(y, x)*/
+ phi = atan2(x[i].s.dir[2], x[i].s.dir[0]);/*absolute angle of slope*/
+ costheta = (x[PREV(i)].w.rad - x[i].w.rad)/x[i].s.len;/*cosine of
special angle*/
+ x[PREV(i)].w.ang1 = phi + acos(costheta);
+ while (x[PREV(i)].w.ang1 < 0.0)
+ x[PREV(i)].w.ang1 += 2.0*M_PI;
+ x[i].w.ang0 = x[PREV(i)].w.ang1;
+ }
+
+ /* second loop - handle concavities */
+ for (i=0;i<NW;i++) {
+ arc_angle = x[i].w.ang0 - x[i].w.ang1;
+ while (arc_angle < 0.0)
+ arc_angle += 2.0*M_PI;
+ if (arc_angle > M_PI) {
+ /* concave */
+ x[i].w.ang0 = 0.5*(x[i].w.ang0 + x[i].w.ang1);
+ x[i].w.ang1 = x[i].w.ang0;
+ x[i].w.arc = 0.0;
+ }
+ else {
+ /* convex - angles are already correct */
+ x[i].w.arc = arc_angle;
+ }
+ }
+
+ /* third loop - calculate geometry of track segments */
+ tracklen = 0.0;
+ for (i=0;i<NW;i++) {
+ /*calculate endpoints of track segment*/
+ x[i].t.pos1[0] = x[i].w.pos[0] + x[i].w.rad*cos(x[i].w.ang0);
+ x[i].t.pos1[1] = x[i].w.pos[1];
+ x[i].t.pos1[2] = x[i].w.pos[2] + x[i].w.rad*sin(x[i].w.ang0);
+ x[i].t.pos0[0] = x[PREV(i)].w.pos[0] +
x[PREV(i)].w.rad*cos(x[PREV(i)].w.ang1);
+ x[i].t.pos0[1] = x[PREV(i)].w.pos[1];
+ x[i].t.pos0[2] = x[PREV(i)].w.pos[2] +
x[PREV(i)].w.rad*sin(x[PREV(i)].w.ang1);
+ /*calculate length and direction*/
+ VSUB2(difference, x[i].t.pos1, x[i].t.pos0);
+ x[i].t.len = MAGNITUDE(difference);
+ VSCALE((x[i].t.dir), difference, (1.0/x[i].t.len));
+
+ /*calculate arclength and total track length*/
+ tracklen += x[i].t.len;
+ tracklen += x[i].w.arc*x[i].w.rad;
+ }
+
+ /* for a track with links already placed, get initial positions*/
+ r = (struct rlink *) bu_calloc(num_links, sizeof(struct rlink), "struct
rlink");
+ if (links_placed)
+ for (i=0;i<num_links;i++) {
+ get_link(link_cent, &link_angle, init_dist + tracklen*i/num_links);
+ VREVERSE(r[i].pos, link_cent);
+ r[i].ang = -link_angle;
+ }
+ return 0;
+}
+
+
int
-main(int argc, char **argv)
+main(int argc, char *argv[])
{
- void anim_dir2mat(fastf_t *, const fastf_t *, const fastf_t *),
anim_y_p_r2mat(fastf_t *, double, double, double), anim_add_trans(fastf_t *,
const fastf_t *, const fastf_t *), anim_mat_print(FILE *, const fastf_t *, int);
- int get_args(int argc, char **argv), track_prep(void), val, frame, go, i,
count;
+ int val, frame, go, i, count;
fastf_t y_rot, distance, yaw, pitch, roll;
vect_t p1, p2, p3, dir, dir2, wheel_now, wheel_prev;
vect_t zero, position, vdelta, temp, to_track, to_front;
@@ -316,210 +499,6 @@
}
-int track_prep(void)/*run once at the beginning to establish important track
info*/
-{
- int i;
- fastf_t phi, costheta, link_angle, arc_angle;
- vect_t difference, link_cent;
-
- /* first loop - get inter axle slopes and start/end angles */
- for (i=0;i<NW;i++) {
- /*calculate current slope vector*/
- VSUB2(x[i].s.dir, x[i].w.pos, x[PREV(i)].w.pos);
- x[i].s.len = MAGNITUDE(x[i].s.dir);
- /*calculate end angle of previous wheel - atan2(y, x)*/
- phi = atan2(x[i].s.dir[2], x[i].s.dir[0]);/*absolute angle of slope*/
- costheta = (x[PREV(i)].w.rad - x[i].w.rad)/x[i].s.len;/*cosine of
special angle*/
- x[PREV(i)].w.ang1 = phi + acos(costheta);
- while (x[PREV(i)].w.ang1 < 0.0)
- x[PREV(i)].w.ang1 += 2.0*M_PI;
- x[i].w.ang0 = x[PREV(i)].w.ang1;
- }
-
- /* second loop - handle concavities */
- for (i=0;i<NW;i++) {
- arc_angle = x[i].w.ang0 - x[i].w.ang1;
- while (arc_angle < 0.0)
- arc_angle += 2.0*M_PI;
- if (arc_angle > M_PI) {
- /* concave */
- x[i].w.ang0 = 0.5*(x[i].w.ang0 + x[i].w.ang1);
- x[i].w.ang1 = x[i].w.ang0;
- x[i].w.arc = 0.0;
- }
- else {
- /* convex - angles are already correct */
- x[i].w.arc = arc_angle;
- }
- }
-
- /* third loop - calculate geometry of track segments */
- tracklen = 0.0;
- for (i=0;i<NW;i++) {
- /*calculate endpoints of track segment*/
- x[i].t.pos1[0] = x[i].w.pos[0] + x[i].w.rad*cos(x[i].w.ang0);
- x[i].t.pos1[1] = x[i].w.pos[1];
- x[i].t.pos1[2] = x[i].w.pos[2] + x[i].w.rad*sin(x[i].w.ang0);
- x[i].t.pos0[0] = x[PREV(i)].w.pos[0] +
x[PREV(i)].w.rad*cos(x[PREV(i)].w.ang1);
- x[i].t.pos0[1] = x[PREV(i)].w.pos[1];
- x[i].t.pos0[2] = x[PREV(i)].w.pos[2] +
x[PREV(i)].w.rad*sin(x[PREV(i)].w.ang1);
- /*calculate length and direction*/
- VSUB2(difference, x[i].t.pos1, x[i].t.pos0);
- x[i].t.len = MAGNITUDE(difference);
- VSCALE((x[i].t.dir), difference, (1.0/x[i].t.len));
-
- /*calculate arclength and total track length*/
- tracklen += x[i].t.len;
- tracklen += x[i].w.arc*x[i].w.rad;
- }
-
- /* for a track with links already placed, get initial positions*/
- r = (struct rlink *) bu_calloc(num_links, sizeof(struct rlink), "struct
rlink");
- if (links_placed)
- for (i=0;i<num_links;i++) {
- get_link(link_cent, &link_angle, init_dist + tracklen*i/num_links);
- VREVERSE(r[i].pos, link_cent);
- r[i].ang = -link_angle;
- }
- return 0;
-}
-
-
-int get_link(fastf_t *pos, fastf_t *angle_p, fastf_t dist)
-{
- int i;
- vect_t temp;
- while (dist >= tracklen) /*periodicize*/
- dist -= tracklen;
- while (dist < 0.0)
- dist += tracklen;
- for (i=0;i<NW;i++) {
- if ( (dist -= x[i].t.len) < 0 ) {
- VSCALE(temp, (x[i].t.dir), dist);
- VADD2(pos, x[i].t.pos1, temp);
- *angle_p = atan2(x[i].t.dir[2], x[i].t.dir[0]);
- return 2*i;
- }
- if ((dist -= x[i].w.rad*x[i].w.arc) < 0) {
- *angle_p = dist/x[i].w.rad;
- *angle_p = x[i].w.ang1 - *angle_p; /*from x-axis to link*/
- pos[0] = x[i].w.pos[0] + x[i].w.rad*cos(*angle_p);
- pos[1] = x[i].w.pos[1];
- pos[2] = x[i].w.pos[2] + x[i].w.rad*sin(*angle_p);
- *angle_p -= M_PI_2; /*angle of clockwise tangent to circle*/
- return 2*i+1;
- }
- }
- return -1;
-}
-
-#define OPT_STR "b:d:f:i:l:pr:w:sg:m:c"
-int get_args(int argc, char **argv)
-{
- fastf_t yaw, pch, rll;
- void anim_dx_y_z2mat(fastf_t *, double, double, double),
anim_dz_y_x2mat(fastf_t *, double, double, double);
- int c, i;
- axes = cent = links_placed = print_wheel = print_link = 0;
- get_circumf = 0;
- print_mode = TRACK_ANIM;
- bu_strlcpy(link_cmd, "rarc", sizeof(link_cmd));
- bu_strlcpy(wheel_cmd, "lmul", sizeof(wheel_cmd));
- while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
- i=0;
- switch (c) {
- case 'b':
- bu_optind -= 1;
- sscanf(argv[bu_optind+(i++)], "%lf", &yaw );
- sscanf(argv[bu_optind+(i++)], "%lf", &pch );
- sscanf(argv[bu_optind+(i++)], "%lf", &rll );
- bu_optind += 3;
- anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
- anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
- axes = 1;
- break;
- case 'd':
- bu_optind -= 1;
- sscanf(argv[bu_optind+(i++)], "%lf", centroid);
- sscanf(argv[bu_optind+(i++)], "%lf", centroid+1);
- sscanf(argv[bu_optind+(i++)], "%lf", centroid+2);
- bu_optind += 3;
- VREVERSE(rcentroid, centroid);
- cent = 1;
- break;
- case 'f':
- sscanf(bu_optarg, "%d", &first_frame);
- break;
- case 'i':
- sscanf(bu_optarg, "%lf", &init_dist);
- break;
- case 'p':
- links_placed = 1;
- break;
- case 'r':
- sscanf(bu_optarg, "%lf", &radius);
- break;
- case 'w':
- wheel_nindex = bu_optind - 1;
- /*sscanf(bu_optarg, "%s", wheel_name);*/
- print_wheel = 1;
- break;
- case 'l':
- sscanf(bu_optarg, "%d", &num_links);
- link_nindex = bu_optind;
- bu_optind += 1;
- print_link = 1;
- break;
- case 's':
- steer = 1;
- break;
- case 'g':
- sscanf(bu_optarg, "%d", &arced_frame);
- print_mode = TRACK_ARCED;
- break;
- case 'm':
- switch (*bu_optarg) {
- case 'l':
- bu_strlcpy(link_cmd, argv[bu_optind], sizeof(link_cmd));
- break;
- case 'w':
- bu_strlcpy(wheel_cmd, argv[bu_optind],
sizeof(wheel_cmd));
- break;
- default:
- fprintf(stderr, "Unknown option: -m%c\n", *bu_optarg);
- return 0;
- }
- bu_optind += 1;
- break;
- case 'c':
- get_circumf = 1;
- break;
- default:
- fprintf(stderr, "Unknown option: -%c\n", c);
- return 0;
- }
- }
- return 1;
-}
-
-void show_info(int which)/* for debugging - -1:track 0:both 1:link*/
-
-{
- int i;
- if (which <=0) {
- fprintf(stderr, "track length: %f\n", tracklen);
- fprintf(stderr, "link length: %f\n", tracklen/num_links);
- for (i=0;i<NW;i++) {
- fprintf(stderr, "wheel %d: %f %f %f %f %f %f\n", i, x[i].w.pos[0],
x[i].w.pos[1], x[i].w.pos[2], x[i].w.rad, x[i].w.ang1, x[i].w.arc);
- fprintf(stderr, "track %d: %f %f %f %f %f %f %f\n", i,
x[i].t.pos1[0], x[i].t.pos1[1], x[i].t.pos1[2], x[i].t.dir[0], x[i].t.dir[1],
x[i].t.dir[2], x[i].t.len);
- fprintf(stderr, "slope %d: %f %f %f %f\n", i, x[i].s.dir[0],
x[i].s.dir[1], x[i].s.dir[2], x[i].s.len);
- }
- }
- /* if (which >= 0) {
- fprintf(stderr, "%d %f %f %f %f\n", count, position[0], position[1],
position[2], y_rot);
- }*/
-}
-
-
/*
* Local Variables:
* mode: C
Modified: brlcad/trunk/src/anim/anim_keyread.c
===================================================================
--- brlcad/trunk/src/anim/anim_keyread.c 2010-10-18 18:46:09 UTC (rev
41053)
+++ brlcad/trunk/src/anim/anim_keyread.c 2010-10-18 18:55:22 UTC (rev
41054)
@@ -41,13 +41,13 @@
#include <stdio.h>
#include <math.h>
-#include "vmath.h"
#include "bu.h"
+#include "bn.h"
+#include "vmath.h"
+#include "anim.h"
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
+#define OPT_STR "yzqr"
#define YPR 0
#define XYZ 1
@@ -60,26 +60,49 @@
#define ERROR1 1
#define ERROR2 2
-#define DTOR M_PI/180.0
-#define RTOD 180.0/M_PI
int mode;
int units;
-extern int bu_optind;
-extern char *bu_optarg;
-int get_args(int argc, char **argv);
-extern void anim_v_unpermute(fastf_t *);
+int get_args(int argc, char **argv)
+{
+ int c;
+
+ mode = QUATERNION; /* default */
+ units = DEGREES;
+
+ while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
+ switch (c) {
+ case 'y':
+ mode = YPR;
+ break;
+ case 'z':
+ mode = XYZ;
+ break;
+ case 'q':
+ mode = QUATERNION;
+ break;
+ case 'r':
+ units = RADIANS;
+ break;
+ default:
+ fprintf(stderr, "Unknown option: -%c\n", c);
+ return 0;
+ }
+ }
+ return 1;
+}
+
+
int
-main(int argc, char **argv)
+main(int argc, char *argv[])
{
int c;
fastf_t time, viewsize;
fastf_t eyept[3], viewrot[16], angle[3], quat[4];
- int anim_mat2ypr(fastf_t *, fastf_t *), anim_mat2zyx(const fastf_t *,
fastf_t *), anim_mat2quat(fastf_t *, const fastf_t *);
if (!get_args(argc, argv))
fprintf(stderr, "anim_keyread: get_args error");
@@ -131,39 +154,6 @@
}
-#define OPT_STR "yzqr"
-
-int get_args(int argc, char **argv)
-{
-
- int c;
-
- mode = QUATERNION; /* default */
- units = DEGREES;
-
- while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
- switch (c) {
- case 'y':
- mode = YPR;
- break;
- case 'z':
- mode = XYZ;
- break;
- case 'q':
- mode = QUATERNION;
- break;
- case 'r':
- units = RADIANS;
- break;
- default:
- fprintf(stderr, "Unknown option: -%c\n", c);
- return 0;
- }
- }
- return 1;
-}
-
-
/*
* Local Variables:
* mode: C
Modified: brlcad/trunk/src/anim/anim_lookat.c
===================================================================
--- brlcad/trunk/src/anim/anim_lookat.c 2010-10-18 18:46:09 UTC (rev 41053)
+++ brlcad/trunk/src/anim/anim_lookat.c 2010-10-18 18:55:22 UTC (rev 41054)
@@ -29,41 +29,55 @@
#include "common.h"
-#include <stdio.h>
#include <math.h>
+#include "bio.h"
-#include "vmath.h"
-#include "anim.h"
#include "bu.h"
+#include "bn.h"
+#include "anim.h"
+#include "vmath.h"
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-#ifndef RTOD
-#define RTOD (180/M_PI)
-#endif
+#define OPT_STR "f:yqv"
-
#define LOOKAT_SCRIPT 0
#define LOOKAT_YPR 1
#define LOOKAT_QUAT 2
-extern int bu_optind;
-extern char *bu_optarg;
-
int frame = 0;
int print_mode = LOOKAT_SCRIPT;
int print_viewsize = 0;
-int get_args(int argc, char **argv);
-extern void anim_dirn2mat(fastf_t *, const fastf_t *, const fastf_t *);
-extern int anim_mat2ypr(fastf_t *, fastf_t *);
-extern int anim_mat2quat(fastf_t *, const fastf_t *);
+int get_args(int argc, char **argv)
+{
+ int c;
+ while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
+ switch (c) {
+ case 'f':
+ sscanf(bu_optarg, "%d", &frame);
+ break;
+ case 'y':
+ print_mode = LOOKAT_YPR;
+ break;
+ case 'q':
+ print_mode = LOOKAT_QUAT;
+ break;
+ case 'v':
+ print_viewsize = 1;
+ break;
+ default:
+ fprintf(stderr, "Unknown option: -%c\n", c);
+ return 0;
+ }
+ }
+ return 1;
+}
+
+
int
-main(int argc, char **argv)
+main(int argc, char *argv[])
{
fastf_t time, vsize=0.0;
vect_t eye, look, dir, angles, norm, temp;
@@ -132,34 +146,6 @@
return 0;
}
-#define OPT_STR "f:yqv"
-
-int get_args(int argc, char **argv)
-{
- int c;
- while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
- switch (c) {
- case 'f':
- sscanf(bu_optarg, "%d", &frame);
- break;
- case 'y':
- print_mode = LOOKAT_YPR;
- break;
- case 'q':
- print_mode = LOOKAT_QUAT;
- break;
- case 'v':
- print_viewsize = 1;
- break;
- default:
- fprintf(stderr, "Unknown option: -%c\n", c);
- return 0;
- }
- }
- return 1;
-}
-
-
/*
* Local Variables:
* mode: C
Modified: brlcad/trunk/src/anim/anim_orient.c
===================================================================
--- brlcad/trunk/src/anim/anim_orient.c 2010-10-18 18:46:09 UTC (rev 41053)
+++ brlcad/trunk/src/anim/anim_orient.c 2010-10-18 18:55:22 UTC (rev 41054)
@@ -37,17 +37,15 @@
#include "common.h"
#include <stdlib.h>
-#include <stdio.h>
#include <math.h>
-
#include "bio.h"
+
+#include "bu.h"
+#include "bn.h"
+#include "anim.h"
#include "vmath.h"
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
#define YPR 0
#define XYZ 1
#define AET 2
@@ -61,30 +59,116 @@
#define ANIM_ERROR1 1
#define ANIM_ERROR2 2
-#define DTOR M_PI/180.0
-#define RTOD 180.0/M_PI
-int parse_args(int argc, char **argv);
-extern void anim_y_p_r2mat(fastf_t *, double, double, double);
-extern void anim_tran(fastf_t *);
-extern void anim_v_unpermute(fastf_t *);
-extern void anim_dirn2mat(fastf_t *, const fastf_t *, const fastf_t *);
-extern void anim_v_permute(fastf_t *);
-
-extern int bu_optind;
-extern char *bu_optarg;
-
int upright;
int input_mode, output_mode, length, input_units, output_units;
int input_perm, output_perm, input_inv, output_inv;
+
+int parse_args(int argc, char **argv)
+{
+ int c;
+ char *cp;
+
+ /* defaults */
+ upright = 0;
+ input_mode = QUAT;
+ output_mode = QUAT;
+ input_units = DEGREES;
+ output_units = DEGREES;
+ input_perm = 0;
+ output_perm = 0;
+ input_inv = 0;
+ output_inv = 0;
+ length = 4;
+
+ if (argc > 2) {
+ /*read output mode */
+ cp = argv[2];
+ while ( (c=*cp++) ) {
+ switch (c) {
+ case 'q':
+ output_mode = QUAT;
+ break;
+ case 'y':
+ output_mode = YPR;
+ break;
+ case 'a':
+ output_mode = AET;
+ break;
+ case 'z':
+ output_mode = XYZ;
+ break;
+ case 'm':
+ output_mode = MAT;
+ break;
+ case 'i':
+ output_inv = 1;
+ break;
+ case 'r':
+ output_units = RADIANS;
+ break;
+ case 'v':
+ output_perm = 1;
+ break;
+ case 'u':
+ upright = 1;
+ break;
+ default:
+ fprintf(stderr, "anim_orient: unknown output option: %c\n",
c);
+ return 0;
+ }
+ }
+ }
+ if (argc > 1) {
+ /*read input mode */
+ cp = argv[1];
+ while ( (c=*cp++) ) {
+ switch (c) {
+ case 'q':
+ input_mode = QUAT;
+ length = 4;
+ break;
+ case 'y':
+ input_mode = YPR;
+ length = 3;
+ break;
+ case 'a':
+ input_mode = AET;
+ length = 3;
+ break;
+ case 'z':
+ input_mode = XYZ;
+ length = 3;
+ break;
+ case 'm':
+ input_mode = MAT;
+ length = 16;
+ break;
+ case 'i':
+ input_inv = 1;
+ break;
+ case 'r':
+ input_units = RADIANS;
+ break;
+ case 'v':
+ input_perm = 1;
+ break;
+ default:
+ fprintf(stderr, "anim_orient: unknown input option: %c\n",
c);
+ return 0;
+ }
+ }
+ }
+ return 1;
+}
+
+
int
-main(int argc, char **argv)
+main(int argc, char *argv[])
{
int num_read;
- fastf_t temp[3], temp2[3], angle[3], quat[4], matrix[16];
- void anim_zyx2mat(fastf_t *, const fastf_t *), anim_ypr2mat(fastf_t *,
const fastf_t *), anim_quat2mat(fastf_t *, const fastf_t *),
anim_mat_print(FILE *, const fastf_t *, int);
- int anim_mat2ypr(fastf_t *, fastf_t *), anim_mat2zyx(const fastf_t *,
fastf_t *), anim_mat2quat(fastf_t *, const fastf_t *);
+ fastf_t temp[3], temp2[3], angle[3], quat[4], matrix[16];
if (!parse_args(argc, argv)) {
fprintf(stderr, "Get_args error.\n");
@@ -197,104 +281,7 @@
return 0;
}
-int parse_args(int argc, char **argv)
-{
- int c;
- char *cp;
- /* defaults */
- upright = 0;
- input_mode = QUAT;
- output_mode = QUAT;
- input_units = DEGREES;
- output_units = DEGREES;
- input_perm = 0;
- output_perm = 0;
- input_inv = 0;
- output_inv = 0;
- length = 4;
-
- if (argc > 2) {
- /*read output mode */
- cp = argv[2];
- while ( (c=*cp++) ) {
- switch (c) {
- case 'q':
- output_mode = QUAT;
- break;
- case 'y':
- output_mode = YPR;
- break;
- case 'a':
- output_mode = AET;
- break;
- case 'z':
- output_mode = XYZ;
- break;
- case 'm':
- output_mode = MAT;
- break;
- case 'i':
- output_inv = 1;
- break;
- case 'r':
- output_units = RADIANS;
- break;
- case 'v':
- output_perm = 1;
- break;
- case 'u':
- upright = 1;
- break;
- default:
- fprintf(stderr, "anim_orient: unknown output option: %c\n",
c);
- return 0;
- }
- }
- }
- if (argc > 1) {
- /*read input mode */
- cp = argv[1];
- while ( (c=*cp++) ) {
- switch (c) {
- case 'q':
- input_mode = QUAT;
- length = 4;
- break;
- case 'y':
- input_mode = YPR;
- length = 3;
- break;
- case 'a':
- input_mode = AET;
- length = 3;
- break;
- case 'z':
- input_mode = XYZ;
- length = 3;
- break;
- case 'm':
- input_mode = MAT;
- length = 16;
- break;
- case 'i':
- input_inv = 1;
- break;
- case 'r':
- input_units = RADIANS;
- break;
- case 'v':
- input_perm = 1;
- break;
- default:
- fprintf(stderr, "anim_orient: unknown input option: %c\n",
c);
- return 0;
- }
- }
- }
- return 1;
-}
-
/*
* Local Variables:
* mode: C
Modified: brlcad/trunk/src/anim/anim_script.c
===================================================================
--- brlcad/trunk/src/anim/anim_script.c 2010-10-18 18:46:09 UTC (rev 41053)
+++ brlcad/trunk/src/anim/anim_script.c 2010-10-18 18:55:22 UTC (rev 41054)
@@ -31,8 +31,8 @@
#include "common.h"
#include <math.h>
-#include <stdio.h>
#include <string.h>
+#include <bio.h>
#include "vmath.h"
#include "bu.h"
@@ -40,19 +40,9 @@
#include "anim.h"
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
+#define OPT_STR "a:b:c:d:f:m:pqrstv:"
-int get_args(int argc, char **argv);
-extern int anim_steer_mat(fastf_t *, fastf_t *, int);
-extern void anim_quat2mat(fastf_t *, const fastf_t *);
-extern void anim_v_unpermute(fastf_t *);
-extern void anim_mat_print(FILE *, const fastf_t *, int);
-extern int bu_optind;
-extern char *bu_optarg;
-
/* info from command line args */
int relative_a, relative_c, axes, translate, quaternion, rotate;/*flags*/
int steer, view, readview, permute; /* flags*/
@@ -62,10 +52,104 @@
mat_t m_axes, m_rev_axes; /* rotational analogue of centroid */
char mat_cmd[10]; /* default is lmul */
+
+int get_args(int argc, char **argv)
+{
+
+ int c, i, yes;
+ double yaw, pch, rll;
+ void anim_dx_y_z2mat(fastf_t *, double, double, double),
anim_dz_y_x2mat(fastf_t *, double, double, double);
+ rotate = translate = 1; /* defaults */
+ quaternion = permute = 0;
+ bu_strlcpy(mat_cmd, "lmul", sizeof(mat_cmd));
+ while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
+ i=0;
+ switch (c) {
+ case 'a':
+ bu_optind -= 1;
+ sscanf(argv[bu_optind+(i++)], "%lf", &yaw );
+ sscanf(argv[bu_optind+(i++)], "%lf", &pch );
+ sscanf(argv[bu_optind+(i++)], "%lf", &rll );
+ bu_optind += 3;
+ anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
+ anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
+ axes = 1;
+ relative_a = 1;
+ break;
+ case 'b':
+ bu_optind -= 1;
+ sscanf(argv[bu_optind+(i++)], "%lf", &yaw );
+ sscanf(argv[bu_optind+(i++)], "%lf", &pch );
+ sscanf(argv[bu_optind+(i++)], "%lf", &rll );
+ bu_optind += 3;
+ anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
+ anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
+ axes = 1;
+ relative_a = 0;
+ break;
+ case 'c':
+ bu_optind -= 1;
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid);
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid+1);
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid+2);
+ bu_optind += 3;
+ VREVERSE(rcentroid, centroid);
+ relative_c = 1;
+ break;
+ case 'd':
+ bu_optind -= 1;
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid);
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid+1);
+ sscanf(argv[bu_optind+(i++)], "%lf", centroid+2);
+ bu_optind += 3;
+ VREVERSE(rcentroid, centroid);
+ relative_c = 0;
+ break;
+ case 'f':
+ sscanf(bu_optarg, "%d", &first_frame);
+ break;
+ case 'm':
+ bu_strlcpy(mat_cmd, bu_optarg, sizeof(mat_cmd));
+ break;
+ case 'p':
+ permute = 1;
+ break;
+ case 'q':
+ quaternion = 1;
+ break;
+ case 'r':
+ rotate = 1;
+ translate = 0;
+ break;
+ case 's':
+ steer = 1;
+ relative_a = 0;
+ rotate = 0;
+ translate = 1;
+ break;
+ case 't':
+ translate = 1;
+ rotate = 0;
+ break;
+ case 'v':
+ yes = sscanf(bu_optarg, "%lf", &viewsize);
+ if (!yes) viewsize = 0.0;
+ if (viewsize < 0.0)
+ readview = 1;
+ view = 1;
+ break;
+ default:
+ fprintf(stderr, "Unknown option: -%c\n", c);
+ return 0;
+ }
+ }
+ return 1;
+}
+
+
int
-main(int argc, char **argv)
+main(int argc, char *argv[])
{
- void anim_dx_y_z2mat(fastf_t *, double, double, double),
anim_add_trans(fastf_t *, const fastf_t *, const fastf_t *);
fastf_t yaw, pitch, roll;
vect_t point, zero;
quat_t quat;
@@ -174,102 +258,7 @@
return 0;
}
-#define OPT_STR "a:b:c:d:f:m:pqrstv:"
-int get_args(int argc, char **argv)
-{
-
- int c, i, yes;
- double yaw, pch, rll;
- void anim_dx_y_z2mat(fastf_t *, double, double, double),
anim_dz_y_x2mat(fastf_t *, double, double, double);
- rotate = translate = 1; /* defaults */
- quaternion = permute = 0;
- bu_strlcpy(mat_cmd, "lmul", sizeof(mat_cmd));
- while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
- i=0;
- switch (c) {
- case 'a':
- bu_optind -= 1;
- sscanf(argv[bu_optind+(i++)], "%lf", &yaw );
- sscanf(argv[bu_optind+(i++)], "%lf", &pch );
- sscanf(argv[bu_optind+(i++)], "%lf", &rll );
- bu_optind += 3;
- anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
- anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
- axes = 1;
- relative_a = 1;
- break;
- case 'b':
- bu_optind -= 1;
- sscanf(argv[bu_optind+(i++)], "%lf", &yaw );
- sscanf(argv[bu_optind+(i++)], "%lf", &pch );
- sscanf(argv[bu_optind+(i++)], "%lf", &rll );
- bu_optind += 3;
- anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
- anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
- axes = 1;
- relative_a = 0;
- break;
- case 'c':
- bu_optind -= 1;
- sscanf(argv[bu_optind+(i++)], "%lf", centroid);
- sscanf(argv[bu_optind+(i++)], "%lf", centroid+1);
- sscanf(argv[bu_optind+(i++)], "%lf", centroid+2);
- bu_optind += 3;
- VREVERSE(rcentroid, centroid);
- relative_c = 1;
- break;
- case 'd':
- bu_optind -= 1;
- sscanf(argv[bu_optind+(i++)], "%lf", centroid);
- sscanf(argv[bu_optind+(i++)], "%lf", centroid+1);
- sscanf(argv[bu_optind+(i++)], "%lf", centroid+2);
- bu_optind += 3;
- VREVERSE(rcentroid, centroid);
- relative_c = 0;
- break;
- case 'f':
- sscanf(bu_optarg, "%d", &first_frame);
- break;
- case 'm':
- bu_strlcpy(mat_cmd, bu_optarg, sizeof(mat_cmd));
- break;
- case 'p':
- permute = 1;
- break;
- case 'q':
- quaternion = 1;
- break;
- case 'r':
- rotate = 1;
- translate = 0;
- break;
- case 's':
- steer = 1;
- relative_a = 0;
- rotate = 0;
- translate = 1;
- break;
- case 't':
- translate = 1;
- rotate = 0;
- break;
- case 'v':
- yes = sscanf(bu_optarg, "%lf", &viewsize);
- if (!yes) viewsize = 0.0;
- if (viewsize < 0.0)
- readview = 1;
- view = 1;
- break;
- default:
- fprintf(stderr, "Unknown option: -%c\n", c);
- return 0;
- }
- }
- return 1;
-}
-
-
/*
* Local Variables:
* mode: C
Modified: brlcad/trunk/src/anim/anim_track.c
===================================================================
--- brlcad/trunk/src/anim/anim_track.c 2010-10-18 18:46:09 UTC (rev 41053)
+++ brlcad/trunk/src/anim/anim_track.c 2010-10-18 18:55:22 UTC (rev 41054)
@@ -28,14 +28,17 @@
#include "common.h"
#include <math.h>
-#include <stdio.h>
#include <string.h>
+#include "bio.h"
-#include "vmath.h"
-#include "raytrace.h"
+#include "bu.h"
+#include "bn.h"
#include "anim.h"
+#include "vmath.h"
+#define OPT_STR "sycuvb:d:f:i:r:p:w:g:m:l:a"
+
#define GIVEN 0
#define CALCULATED 1
#define STEERED 2
@@ -51,6 +54,8 @@
#define NW num_wheels
#define NEXT(i) (i+1)%NW
#define PREV(i) (i+NW-1)%NW
+
+
typedef double *pdouble;
struct wheel {
@@ -79,9 +84,6 @@
struct slope s; /* vector between this axle and the previous
axle */
};
-/* external variables */
-extern int bu_optind;
-extern char *bu_optarg;
/* variables describing track geometry - used by main, trackprep, get_link*/
struct all *x;
@@ -112,257 +114,12 @@
int len_mode; /* mode for track_len */
int anti_strobe; /* flag: take measures against strobing effect */
-int
-main(int argc, char **argv)
-{
- void anim_y_p_r2mat(fastf_t *, double, double, double),
anim_add_trans(fastf_t *, const fastf_t *, const fastf_t *),
anim_mat_print(FILE *, const fastf_t *, int);
- int get_args(int argc, char **argv), get_link(fastf_t *pos, fastf_t
*angle_p, fastf_t dist), track_prep(void), val, frame, i, count;
- int go;
- fastf_t y_rot, distance, yaw, pch, roll;
- vect_t cent_pos, wheel_now, wheel_prev;
- vect_t zero, position, vdelta, temp, to_track, to_front;
- mat_t wmat, mat_x;
- FILE *stream;
- struct wheel *wh;
- int last_steer, last_frame;
- int rndtabi=0;
- fastf_t halfpadlen, delta, prev_dist;
- VSETALL(zero, 0.0);
- VSETALL(to_track, 0.0);
- VSETALL(centroid, 0.0);
- VSETALL(rcentroid, 0.0);
- y_rot = 0.0;
- num_wheels = 0;
- last_steer = last_frame = 0;
- MAT_IDN(mat_x);
- MAT_IDN(wmat);
- MAT_IDN(m_axes);
- MAT_IDN(m_rev_axes);
-
- if (!get_args(argc, argv))
- fprintf(stderr, "Anim_track: Argument error.\n");
-
- if (axes || cent ) {
- /* vehicle has own reference frame */
- anim_add_trans(m_axes, centroid, zero);
- anim_add_trans(m_rev_axes, zero, rcentroid);
- }
-
- /* get track information from specified file */
-
- if (!(stream = fopen(*(argv+bu_optind), "rb"))) {
- fprintf(stderr, "Track: Could not open file %s.\n", *(argv+bu_optind));
- return 0;
- }
- num_wheels = -1;
- if (one_radius) {
- while (!feof(stream)) {
- fscanf(stream, "%*f %*f %*f");
- num_wheels++;
- }
- } else {
- while (!feof(stream)) {
- fscanf(stream, "%*f %*f %*f %*f");
- num_wheels++;
- }
- }
- rewind(stream);
-
-
- /*allocate memory for track information*/
- /* x: contains track geometry for the current frame */
- x = (struct all *) bu_calloc(num_wheels, sizeof(struct all), "x all");
- /* wh: contains geometry of wheels in mged database */
- wh = (struct wheel *) bu_calloc(num_wheels, sizeof(struct wheel), "wh
wheel");
-
- /*read original wheel positions*/
- for (i=0;i<NW;i++) {
- fscanf(stream, "%lf %lf %lf", temp, temp+1, temp+2);
- if (one_radius)
- x[i].w.rad = radius;
- else
- fscanf(stream, "%lf", & x[i].w.rad);
- MAT4X3PNT(x[i].w.pos, m_rev_axes, temp);
- if (i==0)
- track_y = x[0].w.pos[1];
- else
- x[i].w.pos[1] = track_y;
-
-
- wh[i].pos[0] = x[i].w.pos[0];
- wh[i].pos[1] = x[i].w.pos[1];
- wh[i].pos[2] = x[i].w.pos[2];
- wh[i].rad = x[i].w.rad;
- }
- (void) fclose(stream);
-
- /* initialize to_track */
- VSET(to_track, 0.0, track_y, 0.0);
- VSET(to_front, 1.0, 0.0, 0.0);
-
- if (get_circumf&& (!read_wheels)) {
- track_prep();
- printf("%.10g\n", tracklen);
- return 0;
- }
-
-
- if (dist_mode==STEERED) {
- /* prime the pumps */
- scanf("%*f");/*time*/
- val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos + 2);
- if (val < 3)
- return 0;
- go = anim_steer_mat(mat_x, cent_pos, 0);
- last_steer = 0;
- } else {
- go = 1;
- }
-
- if (anti_strobe) {
- BN_RANDSEED(rndtabi, 0);
- }
-
- /* main loop */
- prev_dist = distance = 0.0;
- frame = first_frame;
- for (; ; frame++) {
- if (dist_mode==GIVEN) {
- scanf("%*f");/*time*/
- val = scanf("%lf", &distance);
- if (val < 1) {
- break;
- }
- }
- else if (dist_mode==CALCULATED) {
- scanf("%*f");/*time*/
- scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos+2);
- val = scanf("%lf %lf %lf", &yaw, &pch, &roll);
- if (val < 3)
- break;
- anim_dy_p_r2mat(mat_x, yaw, pch, roll);
- anim_dy_p_r2mat(mat_x, yaw, pch, roll);
- anim_add_trans(mat_x, cent_pos, rcentroid);
- }
-
- if (read_wheels) {
- /* read in all wheel positions */
- for (i=0;i<NW;i++) {
- val=scanf("%lf %lf", x[i].w.pos, x[i].w.pos + 2);
- if (val < 2) {
- break;
- }
- }
- }
-
- if (dist_mode==STEERED) {
- scanf("%*f");/*time*/
- val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos + 2);
- if (val < 3) {
- if (last_steer)
- break;
- else
- last_steer = 1;
- }
- go = anim_steer_mat(mat_x, cent_pos, last_steer);
- anim_add_trans(mat_x, cent_pos, rcentroid);
- }
-
- /* call track_prep to calculate geometry of track */
- if ((frame==first_frame)||read_wheels) {
- if ((track_prep())==-1) {
- fprintf(stderr, "Track: error in frame %d: track too short.\n",
frame);
- break;
- }
- if (get_circumf) {
- printf("%d\t%.10g\n", frame, tracklen);
- }
- }
-
-
- if ((dist_mode==CALCULATED)||(dist_mode==STEERED)) {
- /*determine distance traveled*/
- VMOVE(wheel_prev, wheel_now);
- MAT4X3PNT(wheel_now, mat_x, to_track);
- if (frame > first_frame) {
- /* increment distance by distance moved*/
- VSUB2(vdelta, wheel_now, wheel_prev);
- MAT3X3VEC(temp, mat_x, to_front);/*new front of vehicle*/
- distance += VDOT(temp, vdelta);/*portion of vdelta in line with
track*/
- }
- }
-
- if (anti_strobe) {
- halfpadlen = 0.5 * tracklen/(fastf_t) num_links;
- delta = distance - prev_dist;
- prev_dist = distance;
- if ((delta >= halfpadlen)||(delta <= -halfpadlen)) {
- distance += BN_RANDOM(rndtabi) * 2.0* halfpadlen;
- }
- }
-
- if (go && (!get_circumf)) {
- if (print_mode==PRINT_ANIM) {
- printf("start %d;\nclean;\n", frame);
- } else if (print_mode==PRINT_ARCED) {
- if (frame != arced_frame) continue;
- last_frame = 1;
- }
- if (print_link) {
- for (count=0;count<num_links;count++) {
- (void) get_link(position, &y_rot,
distance+tracklen*count/num_links+init_dist);
- anim_y_p_r2mat(wmat, 0.0, y_rot, 0.0);
- anim_add_trans(wmat, position, zero);
- if (axes || cent) {
- /* link moved to vehicle coords */
- MAT_MOVE(mat_x, wmat);
- bn_mat_mul(wmat, m_axes, mat_x);
- }
- if (print_mode==PRINT_ANIM) {
- printf("anim %s%d matrix %s\n", *(argv+link_nindex),
count, link_cmd);
- anim_mat_printf(stdout, wmat, "%.10g ", "\n", ";\n");
- } else if (print_mode==PRINT_ARCED) {
- printf("arced %s%d matrix %s ", *(argv+link_nindex),
count, link_cmd);
- anim_mat_printf(stdout, wmat, "%.10g ", "", "\n");
- }
- }
- }
- if (print_wheel) {
- for (count = 0;count<num_wheels;count++) {
- anim_y_p_r2mat(wmat, 0.0, -distance/wh[count].rad, 0.0);
- VREVERSE(temp, wh[count].pos);
- anim_add_trans(wmat, x[count].w.pos, temp);
- if (axes || cent) {
- bn_mat_mul(mat_x, wmat, m_rev_axes);
- bn_mat_mul(wmat, m_axes, mat_x);
- }
- if (print_mode==PRINT_ANIM) {
- printf("anim %s%d matrix %s\n", *(argv+wheel_nindex),
count, wheel_cmd);
- anim_mat_printf(stdout, wmat, "%.10g ", "\n", ";\n");
- } else if (print_mode==PRINT_ARCED) {
- printf("arced %s%d matrix %s ", *(argv+wheel_nindex),
count, wheel_cmd);
- anim_mat_printf(stdout, wmat, "%.10g ", "", "\n");
- }
- }
- }
- if (print_mode==PRINT_ANIM)
- printf("end;\n");
- }
- if (last_frame) break;
- }
- bu_free(x, "x all");
- bu_free(wh, "wh wheel");
- return 0;
-}
-
-#define OPT_STR "sycuvb:d:f:i:r:p:w:g:m:l:a"
-
int get_args(int argc, char **argv)
{
int c, i;
fastf_t yaw, pch, rll;
- void anim_dx_y_z2mat(fastf_t *, double, double, double),
anim_dz_y_x2mat(fastf_t *, double, double, double);
+
/* defaults*/
wheel_nindex = link_nindex = 0;
axes = cent = print_wheel = print_link = 0;
@@ -491,6 +248,7 @@
return 1;
}
+
/* TRACK_PREP - Calculate the geometry of the track. Wheel positions and
* radii should already exist in the x[i] structs. Track_prep fills in the
* rest of the x[i] structs and also calculates values for curve_a, curve_b,
@@ -498,7 +256,8 @@
* return values: 0 = GOOD
* -1 = BAD. Track too short to fit around wheels
*/
-int track_prep(void)
+int
+track_prep(void)
{
int i;
fastf_t phi, costheta, arc_angle;
@@ -606,11 +365,13 @@
return 0; /*good*/
}
+
/* GET_LINK - Find the position and angle of a link which is a given
* distance around the track, measured from the point where the caternary
* section meets wheel.0.
*/
-int get_link(fastf_t *pos, fastf_t *angle_p, fastf_t dist)
+int
+get_link(fastf_t *pos, fastf_t *angle_p, fastf_t dist)
{
int i;
vect_t temp;
@@ -660,27 +421,249 @@
return -1;
}
-void show_info(int which)/* for debugging - -1:track 0:both 1:link*/
+int
+main(int argc, char *argv[])
{
- int i;
- if (which <=0) {
- fprintf(stderr, "track length: %f\n", tracklen);
- fprintf(stderr, "link length: %f\n", tracklen/num_links);
- for (i=0;i<NW;i++) {
- fprintf(stderr, "wheel %d: \n", i);
- fprintf(stderr, " pos\t%f\t%f\t%f\t\n", x[i].w.pos[X],
x[i].w.pos[Y], x[i].w.pos[Z]);
- fprintf(stderr, " rad\t%f\tang0\t%f\tang1\t%f\tarc\t%f\n",
x[i].w.rad, x[i].w.ang0, x[i].w.ang1, x[i].w.arc);
+ int val, frame, i, count;
+ int go;
+ fastf_t y_rot, distance, yaw, pch, roll;
+ vect_t cent_pos, wheel_now, wheel_prev;
+ vect_t zero, position, vdelta, temp, to_track, to_front;
+ mat_t wmat, mat_x;
+ FILE *stream;
+ struct wheel *wh;
+ int last_steer, last_frame;
+ int rndtabi=0;
+ fastf_t halfpadlen, delta, prev_dist;
- fprintf(stderr, "track %d: \n", i);
- fprintf(stderr, " pos0\t%f\t%f\tpos1\t%f\t%f\n", x[i].t.pos0[X],
x[i].t.pos0[Z], x[i].t.pos1[X], x[i].t.pos1[Z]);
- fprintf(stderr, " dir\t%f\t%f\t%f\tlen\t%f\n", x[i].t.dir[X],
x[i].t.dir[Y], x[i].t.dir[Z], x[i].t.len);
- fprintf(stderr, "slope %d: %f %f %f %f\n", i, x[i].s.dir[0],
x[i].s.dir[1], x[i].s.dir[2], x[i].s.len);
+ VSETALL(zero, 0.0);
+ VSETALL(to_track, 0.0);
+ VSETALL(centroid, 0.0);
+ VSETALL(rcentroid, 0.0);
+ y_rot = 0.0;
+ num_wheels = 0;
+ last_steer = last_frame = 0;
+ MAT_IDN(mat_x);
+ MAT_IDN(wmat);
+ MAT_IDN(m_axes);
+ MAT_IDN(m_rev_axes);
+
+ if (!get_args(argc, argv))
+ fprintf(stderr, "Anim_track: Argument error.\n");
+
+ if (axes || cent ) {
+ /* vehicle has own reference frame */
+ anim_add_trans(m_axes, centroid, zero);
+ anim_add_trans(m_rev_axes, zero, rcentroid);
+ }
+
+ /* get track information from specified file */
+
+ if (!(stream = fopen(*(argv+bu_optind), "rb"))) {
+ fprintf(stderr, "Track: Could not open file %s.\n", *(argv+bu_optind));
+ return 0;
+ }
+ num_wheels = -1;
+ if (one_radius) {
+ while (!feof(stream)) {
+ fscanf(stream, "%*f %*f %*f");
+ num_wheels++;
}
+ } else {
+ while (!feof(stream)) {
+ fscanf(stream, "%*f %*f %*f %*f");
+ num_wheels++;
+ }
}
- /* if (which >= 0) {
- fprintf(stderr, "%d %f %f %f %f\n", count, position[0], position[1],
position[2], y_rot);
- }*/
+ rewind(stream);
+
+
+ /*allocate memory for track information*/
+ /* x: contains track geometry for the current frame */
+ x = (struct all *) bu_calloc(num_wheels, sizeof(struct all), "x all");
+ /* wh: contains geometry of wheels in mged database */
+ wh = (struct wheel *) bu_calloc(num_wheels, sizeof(struct wheel), "wh
wheel");
+
+ /*read original wheel positions*/
+ for (i=0;i<NW;i++) {
+ fscanf(stream, "%lf %lf %lf", temp, temp+1, temp+2);
+ if (one_radius)
+ x[i].w.rad = radius;
+ else
+ fscanf(stream, "%lf", & x[i].w.rad);
+ MAT4X3PNT(x[i].w.pos, m_rev_axes, temp);
+ if (i==0)
+ track_y = x[0].w.pos[1];
+ else
+ x[i].w.pos[1] = track_y;
+
+
+ wh[i].pos[0] = x[i].w.pos[0];
+ wh[i].pos[1] = x[i].w.pos[1];
+ wh[i].pos[2] = x[i].w.pos[2];
+ wh[i].rad = x[i].w.rad;
+ }
+ (void) fclose(stream);
+
+ /* initialize to_track */
+ VSET(to_track, 0.0, track_y, 0.0);
+ VSET(to_front, 1.0, 0.0, 0.0);
+
+ if (get_circumf&& (!read_wheels)) {
+ track_prep();
+ printf("%.10g\n", tracklen);
+ return 0;
+ }
+
+
+ if (dist_mode==STEERED) {
+ /* prime the pumps */
+ scanf("%*f");/*time*/
+ val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos + 2);
+ if (val < 3)
+ return 0;
+ go = anim_steer_mat(mat_x, cent_pos, 0);
+ last_steer = 0;
+ } else {
+ go = 1;
+ }
+
+ if (anti_strobe) {
+ BN_RANDSEED(rndtabi, 0);
+ }
+
+ /* main loop */
+ prev_dist = distance = 0.0;
+ frame = first_frame;
+ for (; ; frame++) {
+ if (dist_mode==GIVEN) {
+ scanf("%*f");/*time*/
+ val = scanf("%lf", &distance);
+ if (val < 1) {
+ break;
+ }
+ }
+ else if (dist_mode==CALCULATED) {
+ scanf("%*f");/*time*/
+ scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos+2);
+ val = scanf("%lf %lf %lf", &yaw, &pch, &roll);
+ if (val < 3)
+ break;
+ anim_dy_p_r2mat(mat_x, yaw, pch, roll);
+ anim_dy_p_r2mat(mat_x, yaw, pch, roll);
+ anim_add_trans(mat_x, cent_pos, rcentroid);
+ }
+
+ if (read_wheels) {
+ /* read in all wheel positions */
+ for (i=0;i<NW;i++) {
+ val=scanf("%lf %lf", x[i].w.pos, x[i].w.pos + 2);
+ if (val < 2) {
+ break;
+ }
+ }
+ }
+
+ if (dist_mode==STEERED) {
+ scanf("%*f");/*time*/
+ val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos + 2);
+ if (val < 3) {
+ if (last_steer)
+ break;
+ else
+ last_steer = 1;
+ }
+ go = anim_steer_mat(mat_x, cent_pos, last_steer);
+ anim_add_trans(mat_x, cent_pos, rcentroid);
+ }
+
+ /* call track_prep to calculate geometry of track */
+ if ((frame==first_frame)||read_wheels) {
+ if ((track_prep())==-1) {
+ fprintf(stderr, "Track: error in frame %d: track too short.\n",
frame);
+ break;
+ }
+ if (get_circumf) {
+ printf("%d\t%.10g\n", frame, tracklen);
+ }
+ }
+
+
+ if ((dist_mode==CALCULATED)||(dist_mode==STEERED)) {
+ /*determine distance traveled*/
+ VMOVE(wheel_prev, wheel_now);
+ MAT4X3PNT(wheel_now, mat_x, to_track);
+ if (frame > first_frame) {
+ /* increment distance by distance moved*/
+ VSUB2(vdelta, wheel_now, wheel_prev);
+ MAT3X3VEC(temp, mat_x, to_front);/*new front of vehicle*/
+ distance += VDOT(temp, vdelta);/*portion of vdelta in line with
track*/
+ }
+ }
+
+ if (anti_strobe) {
+ halfpadlen = 0.5 * tracklen/(fastf_t) num_links;
+ delta = distance - prev_dist;
+ prev_dist = distance;
+ if ((delta >= halfpadlen)||(delta <= -halfpadlen)) {
+ distance += BN_RANDOM(rndtabi) * 2.0* halfpadlen;
+ }
+ }
+
+ if (go && (!get_circumf)) {
+ if (print_mode==PRINT_ANIM) {
+ printf("start %d;\nclean;\n", frame);
+ } else if (print_mode==PRINT_ARCED) {
+ if (frame != arced_frame) continue;
+ last_frame = 1;
+ }
+ if (print_link) {
+ for (count=0;count<num_links;count++) {
+ (void) get_link(position, &y_rot,
distance+tracklen*count/num_links+init_dist);
+ anim_y_p_r2mat(wmat, 0.0, y_rot, 0.0);
+ anim_add_trans(wmat, position, zero);
+ if (axes || cent) {
+ /* link moved to vehicle coords */
+ MAT_MOVE(mat_x, wmat);
+ bn_mat_mul(wmat, m_axes, mat_x);
+ }
+ if (print_mode==PRINT_ANIM) {
+ printf("anim %s%d matrix %s\n", *(argv+link_nindex),
count, link_cmd);
+ anim_mat_printf(stdout, wmat, "%.10g ", "\n", ";\n");
+ } else if (print_mode==PRINT_ARCED) {
+ printf("arced %s%d matrix %s ", *(argv+link_nindex),
count, link_cmd);
+ anim_mat_printf(stdout, wmat, "%.10g ", "", "\n");
+ }
+ }
+ }
+ if (print_wheel) {
+ for (count = 0;count<num_wheels;count++) {
+ anim_y_p_r2mat(wmat, 0.0, -distance/wh[count].rad, 0.0);
+ VREVERSE(temp, wh[count].pos);
+ anim_add_trans(wmat, x[count].w.pos, temp);
+ if (axes || cent) {
+ bn_mat_mul(mat_x, wmat, m_rev_axes);
+ bn_mat_mul(wmat, m_axes, mat_x);
+ }
+ if (print_mode==PRINT_ANIM) {
+ printf("anim %s%d matrix %s\n", *(argv+wheel_nindex),
count, wheel_cmd);
+ anim_mat_printf(stdout, wmat, "%.10g ", "\n", ";\n");
+ } else if (print_mode==PRINT_ARCED) {
+ printf("arced %s%d matrix %s ", *(argv+wheel_nindex),
count, wheel_cmd);
+ anim_mat_printf(stdout, wmat, "%.10g ", "", "\n");
+ }
+ }
+ }
+ if (print_mode==PRINT_ANIM)
+ printf("end;\n");
+ }
+ if (last_frame) break;
+ }
+ bu_free(x, "x all");
+ bu_free(wh, "wh wheel");
+
+ return 0;
}
Modified: brlcad/trunk/src/anim/anim_turn.c
===================================================================
--- brlcad/trunk/src/anim/anim_turn.c 2010-10-18 18:46:09 UTC (rev 41053)
+++ brlcad/trunk/src/anim/anim_turn.c 2010-10-18 18:55:22 UTC (rev 41054)
@@ -32,38 +32,64 @@
#include "common.h"
#include <math.h>
-#include <stdio.h>
+#include "bio.h"
-#include "vmath.h"
#include "bu.h"
+#include "bn.h"
#include "anim.h"
+#include "vmath.h"
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
+#define OPT_STR "r:l:a:f:p:"
-int get_args(int argc, char **argv);
-extern void anim_y_p_r2mat(fastf_t *, double, double, double);
-extern void anim_add_trans(fastf_t *, const fastf_t *, const fastf_t *);
-extern int bu_optind;
-extern char *bu_optarg;
-
int print_int = 1;
int angle_set = 0;
int turn_wheels = 0;
fastf_t length, angle, radius;
fastf_t factor = 1.0;
+
+int get_args(int argc, char **argv)
+{
+ int c;
+ while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
+ switch (c) {
+ case 'l':
+ sscanf(bu_optarg, "%lf", &length);
+ break;
+ case 'a':
+ sscanf(bu_optarg, "%lf", &angle);
+ angle *= DTOR; /* degrees to radians */
+ angle_set = 1;
+ break;
+ case 'r':
+ sscanf(bu_optarg, "%lf", &radius);
+ turn_wheels = 1;
+ break;
+ case 'f':
+ turn_wheels = 1;
+ sscanf(bu_optarg, "%lf", &factor);
+ break;
+ case 'p':
+ sscanf(bu_optarg, "%d", &print_int);
+ break;
+ default:
+ fprintf(stderr, "Unknown option: -%c\n", c);
+ return 0;
+ }
+ }
+ return 1;
+}
+
+
int
-main(int argc, char **argv)
+main(int argc, char *argv[])
{
int count;
fastf_t val, time, roll_ang, yaw, sign;
vect_t v, point, front, back, zero, temp1, temp2;
mat_t m_from_world, m_to_world;
- double bn_atan2(double, double);
/* initialize variables */
VSETALL(zero, 0.0);
@@ -156,41 +182,7 @@
return 0;
}
-#define OPT_STR "r:l:a:f:p:"
-int get_args(int argc, char **argv)
-{
- int c;
- while ( (c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
- switch (c) {
- case 'l':
- sscanf(bu_optarg, "%lf", &length);
- break;
- case 'a':
- sscanf(bu_optarg, "%lf", &angle);
- angle *= DTOR; /* degrees to radians */
- angle_set = 1;
- break;
- case 'r':
- sscanf(bu_optarg, "%lf", &radius);
- turn_wheels = 1;
- break;
- case 'f':
- turn_wheels = 1;
- sscanf(bu_optarg, "%lf", &factor);
- break;
- case 'p':
- sscanf(bu_optarg, "%d", &print_int);
- break;
- default:
- fprintf(stderr, "Unknown option: -%c\n", c);
- return 0;
- }
- }
- return 1;
-}
-
-
/*
* Local Variables:
* mode: C
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