Revision: 52832
http://brlcad.svn.sourceforge.net/brlcad/?rev=52832&view=rev
Author: brlcad
Date: 2012-10-05 05:01:18 +0000 (Fri, 05 Oct 2012)
Log Message:
-----------
scan into doubles, copy into fastf_t
Modified Paths:
--------------
brlcad/trunk/src/anim/anim_orient.c
brlcad/trunk/src/anim/anim_time.c
brlcad/trunk/src/anim/anim_track.c
brlcad/trunk/src/anim/anim_turn.c
Modified: brlcad/trunk/src/anim/anim_orient.c
===================================================================
--- brlcad/trunk/src/anim/anim_orient.c 2012-10-05 05:00:53 UTC (rev 52831)
+++ brlcad/trunk/src/anim/anim_orient.c 2012-10-05 05:01:18 UTC (rev 52832)
@@ -184,26 +184,34 @@
/* read data */
num_read = length;
while (1) {
+ double scan[4];
switch (input_mode) {
case YPR:
case XYZ:
case AET:
- num_read = scanf("%lf %lf %lf", angle, angle+1, angle+2);
+ num_read = scanf("%lf %lf %lf", &scan[0], &scan[1], &scan[2]);
/* convert to radians if in degrees */
if (input_units==DEGREES) {
- VSCALE(angle, angle, DEG2RAD);
+ VSCALE(angle, scan, DEG2RAD); /* double to fastf_t */
+ } else {
+ VMOVE(angle, scan); /* double to fastf_t */
}
break;
case QUAT:
- num_read = scanf("%lf %lf %lf %lf", quat, quat+1, quat+2,
quat+3);
+ num_read = scanf("%lf %lf %lf %lf", &scan[0], &scan[1],
&scan[2], &scan[3]);
+ HMOVE(quat, scan); /* double to fastf_t */
break;
case MAT:
num_read = 0;
- num_read += scanf("%lf %lf %lf %lf", matrix, matrix+1,
matrix+2, matrix+3);
- num_read += scanf("%lf %lf %lf %lf", matrix+4, matrix+5,
matrix+6, matrix+7);
- num_read += scanf("%lf %lf %lf %lf", matrix+8, matrix+9,
matrix+10, matrix+11);
- num_read += scanf("%lf %lf %lf %lf", matrix+12, matrix+13,
matrix+14, matrix+15);
+ num_read += scanf("%lf %lf %lf %lf", &scan[0], &scan[1],
&scan[2], &scan[3]);
+ HMOVE(matrix, scan); /* double to fastf_t */
+ num_read += scanf("%lf %lf %lf %lf", &scan[0], &scan[1],
&scan[2], &scan[3]);
+ HMOVE(matrix+4, scan); /* double to fastf_t */
+ num_read += scanf("%lf %lf %lf %lf", &scan[0], &scan[1],
&scan[2], &scan[3]);
+ HMOVE(matrix+8, scan); /* double to fastf_t */
+ num_read += scanf("%lf %lf %lf %lf", &scan[0], &scan[1],
&scan[2], &scan[3]);
+ HMOVE(matrix+12, scan); /* double to fastf_t */
break;
}
Modified: brlcad/trunk/src/anim/anim_time.c
===================================================================
--- brlcad/trunk/src/anim/anim_time.c 2012-10-05 05:00:53 UTC (rev 52831)
+++ brlcad/trunk/src/anim/anim_time.c 2012-10-05 05:01:18 UTC (rev 52832)
@@ -48,7 +48,6 @@
/* command line variables */
-fastf_t inv0, inv1;
int v0_set = TIME_NONE;
int v1_set = TIME_NONE;
int query = 0;
@@ -57,7 +56,10 @@
int domem = 0;
int debug = 0;
+/* intentionally double for scan */
+double inv0, inv1;
+
fastf_t
gettime(fastf_t dist, fastf_t a, fastf_t b, fastf_t c, fastf_t init)
{
@@ -96,6 +98,7 @@
int c;
while ((c=bu_getopt(argc, argv, OPT_STR)) != -1) {
+
switch (c) {
case 's':
sscanf(bu_optarg, "%lf", &inv0);
@@ -146,13 +149,14 @@
int
main(int argc, char **argv)
{
- fastf_t *l, *x, *y, *z;
- fastf_t temp0, temp1, temp2, start=0.0, end, v0, v1;
+ fastf_t *l;
+ fastf_t temp0, temp1, temp2, start=0.0, v0, v1;
int i, j, num, plen;
-
fastf_t time, dist, slope, a, b, c;
+ /* intentionally double for scan */
+ double end, *x, *y, *z;
plen = 0;
@@ -167,13 +171,13 @@
l = (fastf_t *) bu_malloc(maxlines*sizeof(fastf_t), "l[]");
if (verbose) {
- x = (fastf_t *) bu_malloc(maxlines*sizeof(fastf_t), "x[]");
- y = (fastf_t *) bu_malloc(maxlines*sizeof(fastf_t), "y[]");
- z = (fastf_t *) bu_malloc(maxlines*sizeof(fastf_t), "z[]");
+ x = (double *) bu_malloc(maxlines*sizeof(double), "x[]");
+ y = (double *) bu_malloc(maxlines*sizeof(double), "y[]");
+ z = (double *) bu_malloc(maxlines*sizeof(double), "z[]");
} else {
- x = (fastf_t *) bu_malloc(2*sizeof(fastf_t), "x[]");
- y = (fastf_t *) bu_malloc(2*sizeof(fastf_t), "y[]");
- z = (fastf_t *) bu_malloc(2*sizeof(fastf_t), "z[]");
+ x = (double *) bu_malloc(2*sizeof(double), "x[]");
+ y = (double *) bu_malloc(2*sizeof(double), "y[]");
+ z = (double *) bu_malloc(2*sizeof(double), "z[]");
}
l[0] = 0.0;
Modified: brlcad/trunk/src/anim/anim_track.c
===================================================================
--- brlcad/trunk/src/anim/anim_track.c 2012-10-05 05:00:53 UTC (rev 52831)
+++ brlcad/trunk/src/anim/anim_track.c 2012-10-05 05:01:18 UTC (rev 52832)
@@ -95,7 +95,7 @@
fastf_t curve_a, curve_b, curve_c, s_start;
int num_links, num_wheels;
-fastf_t track_y, tracklen, first_tracklen;
+fastf_t track_y, tracklen;
/* variables set by get_args */
int wheel_nindex; /* argv[wheel_nindex] = wheelname*/
@@ -119,7 +119,10 @@
vect_t centroid, rcentroid; /* alternate centroid and its reverse */
mat_t m_axes, m_rev_axes; /* matrices to and from alternate axes */
+/* intentionally double for scan */
+double first_tracklen;
+
int
get_args(int argc, char **argv)
{
@@ -140,6 +143,8 @@
anti_strobe = 0;
while ((c=bu_getopt(argc, argv, OPT_STR)) != -1) {
+ double scan[3];
+
i=0;
switch (c) {
case 's':
@@ -159,9 +164,14 @@
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);
+
+ sscanf(argv[bu_optind+(i++)], "%lf", &scan[0]);
+ yaw = scan[0];
+ sscanf(argv[bu_optind+(i++)], "%lf", &scan[0]);
+ pch = scan[0];
+ sscanf(argv[bu_optind+(i++)], "%lf", &scan[0]);
+ rll = scan[0];
+
bu_optind += 3;
anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
@@ -169,9 +179,12 @@
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);
+
+ sscanf(argv[bu_optind+(i++)], "%lf", &scan[0]);
+ sscanf(argv[bu_optind+(i++)], "%lf", &scan[1]);
+ sscanf(argv[bu_optind+(i++)], "%lf", &scan[2]);
+ VMOVE(centroid, scan); /* double to fastf_t */
+
bu_optind += 3;
VREVERSE(rcentroid, centroid);
cent = 1;
@@ -180,10 +193,12 @@
sscanf(bu_optarg, "%d", &first_frame);
break;
case 'i':
- sscanf(bu_optarg, "%lf", &init_dist);
+ sscanf(bu_optarg, "%lf", &scan[0]);
+ init_dist = scan[0]; /* double to fastf_t */
break;
case 'r':
- sscanf(bu_optarg, "%lf", &radius);
+ sscanf(bu_optarg, "%lf", &scan[0]);
+ radius = scan[0]; /* double to fastf_t */
one_radius = 1;
break;
case 'p':
@@ -429,7 +444,7 @@
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;
+ vect_t zero, position, vdelta, to_track, to_front;
mat_t wmat, mat_x;
FILE *stream;
struct wheel *wh;
@@ -437,6 +452,9 @@
int rndtabi=0;
fastf_t halfpadlen, delta, prev_dist;
+ /* intentionally double for scan */
+ double temp[3];
+
VSETALL(zero, 0.0);
VSETALL(to_track, 0.0);
VSETALL(centroid, 0.0);
@@ -493,14 +511,18 @@
/*read original wheel positions*/
for (i=0;i<NW;i++) {
+ double scan;
+
count = fscanf(stream, "%lf %lf %lf", temp, temp+1, temp+2);
if (count != 3)
break;
- if (one_radius)
+ if (one_radius) {
x[i].w.rad = radius;
- else
- count = fscanf(stream, "%lf", & x[i].w.rad);
+ } else {
+ count = fscanf(stream, "%lf", &scan);
+ x[i].w.rad = scan;
+ }
MAT4X3PNT(x[i].w.pos, m_rev_axes, temp);
if (i==0)
track_y = x[0].w.pos[1];
@@ -529,7 +551,8 @@
if (dist_mode==STEERED) {
/* prime the pumps */
val = scanf("%*f");/*time*/
- val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos + 2);
+ val = scanf("%lf %lf %lf", temp, temp+1, temp+2);
+ VMOVE(cent_pos, temp);
if (val < 3)
return 0;
go = anim_steer_mat(mat_x, cent_pos, 0);
@@ -548,14 +571,21 @@
for (; ; frame++) {
if (dist_mode==GIVEN) {
val = scanf("%*f");/*time*/
- val = scanf("%lf", &distance);
+ val = scanf("%lf", &temp[0]);
+ distance = temp[0];
if (val < 1) {
break;
}
} else if (dist_mode==CALCULATED) {
val = scanf("%*f");/*time*/
- val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos+2);
- val = scanf("%lf %lf %lf", &yaw, &pch, &roll);
+ val = scanf("%lf %lf %lf", &temp[0], &temp[1], &temp[2]);
+ /* converting double to fastf_t */
+ VMOVE(cent_pos, temp);
+ val = scanf("%lf %lf %lf", &temp[0], &temp[1], &temp[2]);
+ /* converting double to fastf_t */
+ yaw = temp[0];
+ pch = temp[1];
+ roll = temp[2];
if (val < 3)
break;
anim_dy_p_r2mat(mat_x, yaw, pch, roll);
@@ -566,7 +596,9 @@
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);
+ val = scanf("%lf %lf", &temp[0], &temp[1]);
+ x[i].w.pos[0] = temp[0];
+ x[i].w.pos[2] = temp[1]; /* ??? is [2] right? */
if (val < 2) {
break;
}
@@ -575,13 +607,16 @@
if (dist_mode==STEERED) {
val = scanf("%*f");/*time*/
- val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos + 2);
+ val = scanf("%lf %lf %lf", &temp[0], &temp[1], &temp[2]);
if (val < 3) {
if (last_steer)
break;
else
last_steer = 1;
}
+ /* converting double to fastf_t */
+ VMOVE(cent_pos, temp);
+
go = anim_steer_mat(mat_x, cent_pos, last_steer);
anim_add_trans(mat_x, cent_pos, rcentroid);
}
@@ -647,9 +682,11 @@
}
if (print_wheel) {
for (count = 0;count<num_wheels;count++) {
+ vect_t xpos;
+
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);
+ VREVERSE(xpos, wh[count].pos);
+ anim_add_trans(wmat, x[count].w.pos, xpos);
if (axes || cent) {
bn_mat_mul(mat_x, wmat, m_rev_axes);
bn_mat_mul(wmat, m_axes, mat_x);
Modified: brlcad/trunk/src/anim/anim_turn.c
===================================================================
--- brlcad/trunk/src/anim/anim_turn.c 2012-10-05 05:00:53 UTC (rev 52831)
+++ brlcad/trunk/src/anim/anim_turn.c 2012-10-05 05:01:18 UTC (rev 52832)
@@ -46,10 +46,12 @@
int print_int = 1;
int angle_set = 0;
int turn_wheels = 0;
-fastf_t length, angle, radius;
-fastf_t factor = 1.0;
+/* intentionally double for scan */
+double length, angle, radius;
+double factor = 1.0;
+
int
get_args(int argc, char **argv)
{
@@ -88,10 +90,14 @@
main(int argc, char *argv[])
{
int count;
- fastf_t val, t /* time */, roll_ang, yaw, sign;
+ fastf_t val, roll_ang, yaw, sign;
vect_t v, point, front, back, zero, temp1, temp2;
mat_t m_from_world, m_to_world;
+ /* intentionally double for scan */
+ double scan[3];
+ double t /* time */;
+
/* initialize variables */
VSETALL(zero, 0.0);
VSETALL(v, 0.0);
@@ -110,14 +116,16 @@
if (!angle_set) {
/* set angle if not yet done */
count = scanf("%*f%*[^-0123456789]");
- count = VSCAN(temp1);
+ count = VSCAN(scan);
if (count != 3)
return 1;
+ VMOVE(temp1, scan); /* double to fastf_t */
count = scanf("%*f%*[^-0123456789]");
- count = VSCAN(temp2);
+ count = VSCAN(scan);
if (count != 3)
return 1;
+ VMOVE(temp2, scan); /* double to fastf_t */
angle = bn_atan2((temp2[1]-temp1[1]), (temp2[0]-temp1[0]));
rewind(stdin);
@@ -126,10 +134,11 @@
while (1) {
/* read one line of table */
val = scanf("%lf%*[^-0123456789]", &t); /*read time, ignore garbage*/
- val = scanf("%lf %lf %lf", point, point+1, point +2);
+ val = scanf("%lf %lf %lf", &scan[0], &scan[1], &scan[2]);
if (val < 3) {
break;
}
+ VMOVE(point, scan); /* double to fastf_t */
/*update to and from matrices */
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