calc::calc(QWidget *parent) :
QMainWindow(parent)
{
setupUi(this);
setFixedSize(sizeHint());
clearall();
connect (Button1,SIGNAL(clicked()),this,SLOT(add1()));
connect (Button2,SIGNAL(clicked()),this,SLOT(add2()));
connect (Button3,SIGNAL(clicked()),this,SLOT(add3()));
connect (Button4,SIGNAL(clicked()),this,SLOT(add4()));
connect (Button5,SIGNAL(clicked()),this,SLOT(add5()));
connect (Button6,SIGNAL(clicked()),this,SLOT(add6()));
connect (Button7,SIGNAL(clicked()),this,SLOT(add7()));
connect (Button8,SIGNAL(clicked()),this,SLOT(add8()));
connect (Button9,SIGNAL(clicked()),this,SLOT(add9()));
connect (Button0,SIGNAL(clicked()),this,SLOT(add0()));
connect (backButton,SIGNAL(clicked()),this,SLOT(delnum()));
connect (pointButton,SIGNAL(clicked()),this,SLOT(insertpoint()));
connect (plusButton,SIGNAL(clicked()),this,SLOT(plus()));
connect (minusButton,SIGNAL(clicked()),this,SLOT(minus()));
connect (multiplyButton,SIGNAL(clicked()),this,SLOT(multiply()));
connect (divideButton,SIGNAL(clicked()),this,SLOT(divide()));
connect (equalButton,SIGNAL(clicked()),this,SLOT(equal()));
connect (CButton,SIGNAL(clicked()),this,SLOT(clearall()));
connect (actionAbout_Qt,SIGNAL(triggered()),this,SLOT(about()));
connect (actionExit,SIGNAL(triggered()),this,SLOT(close()));
connect (pmButton,SIGNAL(clicked()),this,SLOT(togglepm()));
}
void scopePlot::plotData(unsigned int size,
double * dData1, QString curve1Name, QString yLLabel,
double * dData2, QString curve2Name, QString yRLabel)
{
add1(dData1,size,curve1Name,yLLabel);
add3(dData2,size,curve2Name,yRLabel);
show();
}
int init (int v) {
int zero = 0;
int sept = 7;
x = v;
y = sept;
z = add3 (x, y, zero); // TODO: add3(x, 7, 0); z = 12;
int z1 = z ;
return zero ;
}
// This function will be inlined into external callers by
// interprocedural optimization (IPO).
float sum(float a[], int n)
{
float result;
int i;
result = 0;
for (i = 0; i < n; i++)
result += a[i] + add3(a[i]);
return result;
}
int main(void)
{
printf("add2(%d, %d) = %d\n", 3, 1, add2(3, 1));
printf("add3(%d, %d, %d) = %d\n", 1, 3, 1, add3(1, 3, 1));
printf("bic(%d, %d) = %d\n", 3, 1, bic(3, 1));
printf("mvn(%d, %d) = %d\n", 3, 1, mvn(3, 1));
printf("rsb3(%d, %d, %d) = %d\n", 3, 1, 1, rsb3(3, 1, 1));
printf("rsb1(%d) = %d\n", 3, rsb1(3));
return 0;
}
void Mesh::add3_with_auto_normals(const std::array<glm::vec3, 3> &positions, const glm::vec3 &origin)
{
const glm::vec3 sample = glm::normalize((positions[1] - positions[0]) * (positions[2] - positions[0]));
// TODO Handle if direction is zero vector (origin is in vertex 0) - use some other vertex
const glm::vec3 direction = glm::normalize(positions[0] - origin);
const float angle = glm::angle(direction, sample);
const glm::vec3 normal = angle <= glm::radians(90.0f) ? sample : -sample;
add3(positions, normal);
}
static void *start_routine_3(void *arg)
{
int x, status;
x = add3(1000, 200, 30, 4);
assert(x == 1234);
status = sem_post(&done);
assert(status == 0);
return arg;
}
void test_vector_ifft() {
logMsg("playing IFFT crossfade...");
IFFT vox1, vox2;
vox1.set_bin_mag_phase(2, 0.25, 0);
vox1.set_bin_mag_phase(4, 0.25, 0);
vox2.set_bin_mag_phase(6, 0.25, 0);
vox2.set_bin_mag_phase(8, 0.25, 0);
LineSegment env1(3, 1, 0); // fade out
LineSegment env2(3, 0, 1); // fade in
MulOp mul1(vox1, env1);
MulOp mul2(vox2, env2);
AddOp add3(mul1, mul2);
run_test(add3);
logMsg("IFFT crossfade done.");
}
void main(int a) {
test_ull ();
test_struct () ;
test_struct_ptr () ;
test_tab (13) ;
test_float_double ();
int b = init(5); // TODO: init(5); b = 0;
z = add3 (a, 0, 0);
int *p = test_ptr (y);
//@ assert *p == 7 ;
int *q = a?p:&y;
int yy = *q;
//@ assert a==0 ==> q==&y ;
//@ assert *q == 7 ;
}
int main () {
/* Create custom arbitrary data. */
const uint8_t uint8_data[] = { 1, 2, 3, 4, 5, 6, 7, 8,
9, 10, 11, 12, 13, 14, 15, 16 };
/* Create the vector with our data. */
uint8x16_t data;
/* Load our custom data into the vector register. */
data = vld1q_u8 (uint8_data);
print_uint8 (data, "data");
/* Call of the add3 function. */
add3(&data);
print_uint8 (data, "data (new)");
return 0;
}
MobileWindow::MobileWindow(MusicPlayer* player)
{
ui.setupUi(this);
this->player = player;
//initFolderList();
// SIGNALS
// CALL NUMBERS
connect(ui.call1Button, SIGNAL(clicked()), this, SLOT(add1()));
connect(ui.call2Button, SIGNAL(clicked()), this, SLOT(add2()));
connect(ui.call3Button, SIGNAL(clicked()), this, SLOT(add3()));
connect(ui.call4Button, SIGNAL(clicked()), this, SLOT(add4()));
connect(ui.call5Button, SIGNAL(clicked()), this, SLOT(add5()));
connect(ui.call6Button, SIGNAL(clicked()), this, SLOT(add6()));
connect(ui.call7Button, SIGNAL(clicked()), this, SLOT(add7()));
connect(ui.call8Button, SIGNAL(clicked()), this, SLOT(add8()));
connect(ui.call9Button, SIGNAL(clicked()), this, SLOT(add9()));
connect(ui.call0Button, SIGNAL(clicked()), this, SLOT(add0()));
connect(ui.callAsteriskButton, SIGNAL(clicked()), this, SLOT(addAsterisk()));
connect(ui.callHashButton, SIGNAL(clicked()), this, SLOT(addHash()));
// CALL, HANG UP AND DELETE BUTTONS
connect(ui.removeButton, SIGNAL(clicked()), this, SLOT(removeDigit()));
connect(ui.callButton, SIGNAL(clicked()), this, SLOT(call()));
connect(ui.hangUpButton, SIGNAL(clicked()), this, SLOT(hangUp()));
// CONTACTS
connect(ui.contactList, SIGNAL(itemSelectionChanged()), this, SLOT(contactSelected()));
// FILL CONTACTS
ddbb.readFromFile("ddbb\\contacts.xml");
QList<Contact*> contacts = ddbb.getContacts();
foreach (Contact* c,contacts) {
ui.contactList->addItem(c->name);
}
void addtraverse(node2 *a, node2 *b, node2 *c, long *m, long *n,
valptr valyew, placeptr place)
{
/* traverse all places to add b */
if (done)
return;
if ((*m) <= 2 || !(noroot && (a == root || a == root->next->back))) {
add3(a, b, c, &root, treenode);
(*n)++;
evaluate(root);
examined++;
if (examined == howoften) {
examined = 0;
mults++;
if (mults == howmanny)
done = true;
if (progress) {
printf("%6ld", mults);
if (bestyet >= 0)
printf("%18.5f", bestyet);
else
printf(" - ");
printf("%17ld%20.2f\n", nextree - 1, fracdone * 100);
#ifdef WIN32
phyFillScreenColor();
#endif
}
}
valyew[(*n) - 1] = like;
place[(*n) - 1] = a->index;
re_move3(&b, &c, &root, treenode);
}
if (!a->tip) {
addtraverse(a->next->back, b, c, m,n,valyew,place);
addtraverse(a->next->next->back, b, c, m,n,valyew,place);
}
} /* addtraverse */
int
MeshEdgeElementTable::calcLineIntersections(int elem_index, short elem_dir,
Point3& lstart, Point3& ldir, Point3* isec_points)
{
meshElementCode elem_code = getElementCode(elem_index);
if (elem_code < MEC_202 || elem_code >= 303)
return 0;
const int* nodeIds = getNodeIds(elem_index, elem_dir);
Point3& p0 = meshNodes[nodeIds[0]];
Point3& p1 = meshNodes[nodeIds[1]];
Point3& normal = normals[elem_index];
if (elem_dir == -1)
scalarmult(-1, normal, normal);
// Check end-point cases
if ( samepoint(p0, lstart) ){
copy3(p0, *isec_points);
return 1;
}
if ( samepoint(p1, lstart) ){
copy3(p1, *isec_points);
return 1;
}
Point3 edge_dir, l_delta0, tmp;
// Edge direction vector (normalized)
edge_dir[0] = normal[1];
edge_dir[1] = -1 * normal[0];
edge_dir[2] = 0.0;
// Edge length
diff3(p1, p0, tmp);
double edge_len = dot3(edge_dir, tmp);
// Vector l_delta0 = lstart - p0
diff3(lstart, p0, l_delta0);
// Check that intersection is "within" the edge
// project the intersection point to the edge
double t = dot3(edge_dir, l_delta0);
if ( isLess(t, 0.0) ||
isGreater(t, edge_len)
)
return 0;
// Check that intersection distance from the edge is ok
// project intersection point to the edge normal
double d = dot3(normal, l_delta0);
if (d < 0)
d *= -1;
if ( isGreater(d, MeshEdgeElementTable::pickingTolerance) )
return 0;
// Intersection point is: p0 + t * (p1 - p0)
scalarmult(t, edge_dir, tmp);
add3(p0, tmp, *isec_points);
return 1;
}
void addit(long m)
{
/* adds the species one by one, recursively */
long n;
valptr valyew;
placeptr place;
long i, j, n1, besttoadd = 0;
valptr bestval;
placeptr bestplace;
double oldfrac, oldfdone, sum, bestsum;
valyew = (valptr)Malloc(nonodes*sizeof(double));
bestval = (valptr)Malloc(nonodes*sizeof(double));
place = (placeptr)Malloc(nonodes*sizeof(long));
bestplace = (placeptr)Malloc(nonodes*sizeof(long));
if (simple && !firsttime) {
n = 0;
added[order[m - 1] - 1] = true;
addtraverse(root, treenode[order[m - 1] - 1],
treenode[spp + m - 2], &m,&n,valyew,place);
besttoadd = order[m - 1];
memcpy(bestplace, place, nonodes*sizeof(long));
memcpy(bestval, valyew, nonodes*sizeof(double));
} else {
bestsum = -1.0;
for (i = 1; i <= (spp); i++) {
if (!added[i - 1]) {
n = 0;
added[i - 1] = true;
addtraverse(root, treenode[i - 1], treenode[spp + m - 2], &m,
&n,valyew,place);
added[i - 1] = false;
sum = 0.0;
for (j = 0; j < (n); j++)
sum += valyew[j];
if (sum > bestsum) {
bestsum = sum;
besttoadd = i;
memcpy(bestplace, place, nonodes*sizeof(long));
memcpy(bestval, valyew, nonodes*sizeof(double));
}
}
}
}
order[m - 1] = besttoadd;
memcpy(place, bestplace, nonodes*sizeof(long));
memcpy(valyew, bestval, nonodes*sizeof(double));
shellsort(valyew, place, n);
oldfrac = fracinc;
oldfdone = fracdone;
n1 = 0;
for (i = 0; i < (n); i++) {
if (valyew[i] <= bestyet || bestyet < 0.0)
n1++;
}
if (n1 > 0)
fracinc /= n1;
for (i = 0; i < (n); i++) {
if (valyew[i] <= bestyet || bestyet < 0.0) {
current[m - 1] = place[i];
add3(treenode[place[i] - 1], treenode[besttoadd - 1],
treenode[spp + m - 2], &root, treenode);
added[besttoadd - 1] = true;
if (m < spp)
addit(m + 1);
else {
if (valyew[i] < bestyet || bestyet < 0.0) {
nextree = 1;
bestyet = valyew[i];
}
if (nextree <= maxtrees) {
memcpy(bestorders[nextree - 1], order,
spp*sizeof(long));
memcpy(bestrees[nextree - 1], current,
spp*sizeof(long));
}
nextree++;
firsttime = false;
}
re_move3(&treenode[besttoadd - 1], &treenode[spp + m - 2], &root, treenode);
added[besttoadd - 1] = false;
}
fracdone += fracinc;
}
fracinc = oldfrac;
fracdone = oldfdone;
free(valyew);
free(bestval);
free(place);
free(bestplace);
} /* addit */
void rf (const char *name)
{
struct stat st, st2, st3;
const size_t namelen = strlen(name);
nobjects++;
if (lstat (name, &st))
return;
if (st.st_dev != dev && !force) {
if (dev) {
fprintf(stderr, "%s is on different filesystem than the rest.\nUse -f option to override.\n", name);
doexit(6);
}
dev = st.st_dev;
}
if (S_ISDIR (st.st_mode)) {
d * dp = malloc(add3(sizeof(d), namelen, 1));
if (!dp) {
fprintf(stderr, "\nOut of memory 3\n");
doexit(3);
}
memcpy(dp->name, name, namelen + 1);
dp->next = dirs;
dirs = dp;
} else if (S_ISREG (st.st_mode)) {
int fd, i;
f * fp, * fp2;
h * hp;
const char *n1, *n2;
int cksumsize = sizeof(buf);
unsigned int cksum;
time_t mtime = content_only ? 0 : st.st_mtime;
unsigned int hsh = hash (st.st_size, mtime);
off_t fsize;
nregfiles++;
if (verbose > 1)
fprintf(stderr, " %s", name);
fd = open (name, O_RDONLY);
if (fd < 0) return;
if (st.st_size < sizeof(buf)) {
cksumsize = st.st_size;
memset (((char *)buf) + cksumsize, 0, (sizeof(buf) - cksumsize) % sizeof(buf[0]));
}
if (read (fd, buf, cksumsize) != cksumsize) {
close(fd);
if (verbose > 1 && namelen <= NAMELEN)
fprintf(stderr, "\r%*s\r", (int)(namelen + 2), "");
return;
}
cksumsize = (cksumsize + sizeof(buf[0]) - 1) / sizeof(buf[0]);
for (i = 0, cksum = 0; i < cksumsize; i++) {
if (cksum + buf[i] < cksum)
cksum += buf[i] + 1;
else
cksum += buf[i];
}
for (hp = hps[hsh]; hp; hp = hp->next)
if (hp->size == st.st_size && hp->mtime == mtime)
break;
if (!hp) {
hp = malloc(sizeof(h));
if (!hp) {
fprintf(stderr, "\nOut of memory 1\n");
doexit(1);
}
hp->size = st.st_size;
hp->mtime = mtime;
hp->chain = NULL;
hp->next = hps[hsh];
hps[hsh] = hp;
}
for (fp = hp->chain; fp; fp = fp->next)
if (fp->cksum == cksum)
break;
for (fp2 = fp; fp2 && fp2->cksum == cksum; fp2 = fp2->next)
if (fp2->ino == st.st_ino && fp2->dev == st.st_dev) {
close(fd);
if (verbose > 1 && namelen <= NAMELEN)
fprintf(stderr, "\r%*s\r", (int)(namelen + 2), "");
return;
}
for (fp2 = fp; fp2 && fp2->cksum == cksum; fp2 = fp2->next)
if (!lstat (fp2->name, &st2) && S_ISREG (st2.st_mode) &&
!stcmp (&st, &st2, content_only) &&
st2.st_ino != st.st_ino &&
st2.st_dev == st.st_dev) {
int fd2 = open (fp2->name, O_RDONLY);
if (fd2 < 0) continue;
if (fstat (fd2, &st2) || !S_ISREG (st2.st_mode) || st2.st_size == 0) {
close (fd2);
continue;
}
ncomp++;
lseek(fd, 0, SEEK_SET);
for (fsize = st.st_size; fsize > 0; fsize -= NIOBUF) {
off_t rsize = fsize >= NIOBUF ? NIOBUF : fsize;
if (read (fd, iobuf1, rsize) != rsize || read (fd2, iobuf2, rsize) != rsize) {
close(fd);
close(fd2);
fprintf(stderr, "\nReading error\n");
return;
}
if (memcmp (iobuf1, iobuf2, rsize)) break;
}
close(fd2);
if (fsize > 0) continue;
if (lstat (name, &st3)) {
fprintf(stderr, "\nCould not stat %s again\n", name);
close(fd);
return;
}
st3.st_atime = st.st_atime;
if (stcmp (&st, &st3, 0)) {
fprintf(stderr, "\nFile %s changed underneath us\n", name);
close(fd);
return;
}
n1 = fp2->name;
n2 = name;
if (!no_link) {
const char *suffix = ".$$$___cleanit___$$$";
const size_t suffixlen = strlen(suffix);
size_t n2len = strlen(n2);
dynstr nam2 = {NULL, 0};
growstr(&nam2, add2(n2len, suffixlen));
memcpy(nam2.buf, n2, n2len);
memcpy(&nam2.buf[n2len], suffix, suffixlen + 1);
if (rename (n2, nam2.buf)) {
fprintf(stderr, "\nFailed to rename %s to %s\n", n2, nam2.buf);
free(nam2.buf);
continue;
}
if (link (n1, n2)) {
fprintf(stderr, "\nFailed to hardlink %s to %s\n", n1, n2);
if (rename (nam2.buf, n2)) {
fprintf(stderr, "\nBad bad - failed to rename back %s to %s\n", nam2.buf, n2);
}
close(fd);
free(nam2.buf);
return;
}
unlink (nam2.buf);
free(nam2.buf);
}
nlinks++;
if (st3.st_nlink > 1) {
/* We actually did not save anything this time, since the link second argument
had some other links as well. */
if (verbose > 1)
fprintf(stderr, "\r%*s\r%s %s to %s\n", (int)(((namelen > NAMELEN) ? 0 : namelen) + 2), "", (no_link ? "Would link" : "Linked"), n1, n2);
} else {
nsaved+=((st.st_size+4095)/4096)*4096;
if (verbose > 1)
fprintf(stderr, "\r%*s\r%s %s to %s, %s %ld\n", (int)(((namelen > NAMELEN) ? 0 : namelen) + 2), "", (no_link ? "Would link" : "Linked"), n1, n2, (no_link ? "would save" : "saved"), st.st_size);
}
close(fd);
return;
}
fp2 = malloc(add3(sizeof(f), namelen, 1));
if (!fp2) {
fprintf(stderr, "\nOut of memory 2\n");
doexit(2);
}
close(fd);
fp2->ino = st.st_ino;
fp2->dev = st.st_dev;
fp2->cksum = cksum;
memcpy(fp2->name, name, namelen + 1);
if (fp) {
fp2->next = fp->next;
fp->next = fp2;
} else {
fp2->next = hp->chain;
hp->chain = fp2;
}
if (verbose > 1 && namelen <= NAMELEN)
fprintf(stderr, "\r%*s\r", (int)(namelen + 2), "");
return;
}
}
/* todo: implement this correctly */
vec3 model_gettrans(const uint32_t *mdl, int anim_id, double frame, int bone)
{
uint8_t ngeo, nbone, nanim;
const uint8_t *p, *tr, *qt;
const chunkinfo_t *ck;
const anim_t *anim;
const bone_t *b;
vec3 trans, ptrans;
vec4 rot, prot;
int i;
vec3 translation[maxbones];
vec3 rtrans[maxbones];
vec4 rotation[maxbones];
if (bone == 0xFF)
return vec3(0.0, 0.0, 0.0);
/* parse header */
p = (const uint8_t*)mdl;
ngeo = p[0];
nbone = p[2];
nanim = p[3];
anim = (const anim_t*)&p[4];
ck = (const chunkinfo_t*)&anim[nanim];
p = (const uint8_t*)&ck[ngeo];
anim += anim_id;
frame = frame * anim->frames;
/* calculate transformations for frame */
i = 0;
do {
b = (const bone_t*)p;
tr = (const uint8_t*)&b[1];
qt = tr + nanim;
p = qt + nanim;
if(nanim & 1) { /* alignment */
p += 2;
}
get_trans(&trans, p, tr, anim_id, frame);
p += b->keyframes[0] * sizeof(keyframe_t);
get_rot(&rot, p, qt, anim_id, frame);
p += b->keyframes[1] * sizeof(keyframe4_t);
if(b->parent < 0) {
ptrans = vec3(0.0, 0.0, 0.0);
prot = vec4(0.0, 0.0, 0.0, 1.0);
} else {
ptrans = rtrans[b->parent];
prot = rotation[b->parent];
}
rotation[i] = mul4(rot, prot);
translation[i] = add3(ptrans, qrot3(add3(b->pivot, trans), prot));
rtrans[i] = add3(qrot3(neg3(b->pivot), rotation[i]), translation[i]);
if (i == bone)
return translation[i];
} while(++i < nbone);
return vec3(0.0, 0.0, 0.0);
}
void maketree()
{
/* tree construction recursively by branch and bound */
long i, j, k;
node2 *dummy;
fullset = (1L << (bits + 1)) - (1L << 1);
if (progress) {
printf("\nHow many\n");
printf("trees looked Approximate\n");
printf("at so far Length of How many percentage\n");
printf("(multiples shortest tree trees this long searched\n");
printf("of %4ld): found so far found so far so far\n",
howoften);
printf("---------- ------------ ------------ ------------\n");
#ifdef WIN32
phyFillScreenColor();
#endif
}
done = false;
mults = 0;
examined = 0;
nextree = 1;
root = treenode[0];
firsttime = true;
for (i = 0; i < (spp); i++)
added[i] = false;
added[0] = true;
order[0] = 1;
k = 2;
fracdone = 0.0;
fracinc = 1.0;
bestyet = -1.0;
addit(k);
if (done) {
if (progress) {
printf("Search broken off! Not guaranteed to\n");
printf(" have found the most parsimonious trees.\n");
}
if (treeprint) {
fprintf(outfile, "Search broken off! Not guaranteed to\n");
fprintf(outfile, " have found the most parsimonious\n");
fprintf(outfile, " trees, but here is what we found:\n");
}
}
if (treeprint) {
fprintf(outfile, "\nrequires a total of %18.3f\n\n", bestyet);
if (nextree == 2)
fprintf(outfile, "One most parsimonious tree found:\n");
else
fprintf(outfile, "%5ld trees in all found\n", nextree - 1);
}
if (nextree > maxtrees + 1) {
if (treeprint)
fprintf(outfile, "here are the first%4ld of them\n", (long)maxtrees);
nextree = maxtrees + 1;
}
if (treeprint)
putc('\n', outfile);
for (i = 0; i < (spp); i++)
added[i] = true;
for (i = 0; i <= (nextree - 2); i++) {
for (j = k; j <= (spp); j++)
add3(treenode[bestrees[i][j - 1] - 1],
treenode[bestorders[i][j - 1] - 1], treenode[spp + j - 2],
&root, treenode);
if (noroot)
reroot(treenode[outgrno - 1]);
didreroot = (outgropt && noroot);
evaluate(root);
printree(treeprint, noroot, didreroot, root);
describe();
for (j = k - 1; j < (spp); j++)
re_move3(&treenode[bestorders[i][j] - 1], &dummy, &root, treenode);
}
if (progress) {
printf("\nOutput written to file \"%s\"\n\n", outfilename);
if (trout)
printf("Trees also written onto file \"%s\"\n\n", outtreename);
}
if (ancseq)
freegarbage(&garbage);
} /* maketree */
void model_draw(const shader_t *s, GLuint utrans, GLuint uquats,
const GLuint *texture, const uint32_t *mdl,
int anim_id, double frame, const float *teamcolor,
const float *color, uint16_t tex_over)
{
/* assumes valid model data */
uint8_t ngeo, teamcolor_end, nbone, nanim;
const uint8_t *p, *tr, *qt;
const chunkinfo_t *ck;
const anim_t *anim;
const bone_t *b;
vec3 trans, ptrans;
vec4 rot, prot;
int vis, i, offset, tex;
vec3 rtrans[maxbones];
vec4 rotation[maxbones];
/* parse header */
p = (const uint8_t*)mdl;
ngeo = p[0];
teamcolor_end = p[1];
nbone = p[2];
nanim = p[3];
anim = (const anim_t*)&p[4];
ck = (const chunkinfo_t*)&anim[nanim];
p = (const uint8_t*)&ck[ngeo];
anim += anim_id;
vis = anim->vis;
frame = frame * anim->frames;
/* calculate transformations for frame */
i = 0;
do {
b = (const bone_t*)p;
tr = (const uint8_t*)&b[1];
qt = tr + nanim;
p = qt + nanim;
p = align4(p);
get_trans(&trans, p, tr, anim_id, frame);
p += b->keyframes[0] * sizeof(keyframe_t);
get_rot(&rot, p, qt, anim_id, frame);
p += b->keyframes[1] * sizeof(keyframe4_t);
if(b->parent < 0) {
ptrans = vec3(0.0, 0.0, 0.0);
prot = vec4(0.0, 0.0, 0.0, 1.0);
} else {
ptrans = rtrans[b->parent];
prot = rotation[b->parent];
}
rotation[i] = mul4(rot, prot);
trans = add3(ptrans, qrot3(add3(b->pivot, trans), prot));
rtrans[i] = add3(qrot3(neg3(b->pivot), rotation[i]), trans);
} while (++i < nbone);
/* load transformations */
glUniform4fv(uquats, nbone, (float*)rotation);
glUniform3fv(utrans, nbone, (float*)rtrans);
//GLuint test;
//glGenBuffers(1, &test);
//
//glBufferData(GL_ELEMENT_ARRAY_BUFFER, ck[ngeo - 1].index, indices, GL_STATIC_DRAW);
/* draw visible vertices */
i = 0;
offset = 0;
tex = 0xFFFF;
glUniform4fv(s->k, 1, teamcolor);
glUniform4fv(s->samp, 1, color);
do {
if(i == teamcolor_end)
glUniform4fv(s->k, 1, transparency);
if((vis & (1 << i))) {
if (tex_over != 0xFFFF) {
glBindTexture(GL_TEXTURE_2D, tex_over == 0xFFFE ? 0 : texture[tex_over]);
} else if (ck[i].texture != tex) {
tex = ck[i].texture;
glBindTexture(GL_TEXTURE_2D, texture[tex]);
}
glDrawElements(GL_TRIANGLES, ck[i].index - offset, GL_UNSIGNED_SHORT, (void*)(size_t)offset);
}
offset = ck[i].index;
} while(++i != ngeo);
//glDeleteBuffers(1, &test);
}
void uiuc_gear()
{
/*
* Aircraft specific initializations and data goes here
*/
static DATA percent_brake[MAX_GEAR] = /* percent applied braking */
{ 0., 0., 0., 0.,
0., 0., 0., 0.,
0., 0., 0., 0.,
0., 0., 0., 0.
}; /* 0 = none, 1 = full */
static DATA caster_angle_rad[MAX_GEAR] = /* steerable tires - in */
{ 0., 0., 0., 0.,
0., 0., 0., 0.,
0., 0., 0., 0.,
0., 0., 0., 0.
}; /* radians, +CW */
/*
* End of aircraft specific code
*/
/*
* Constants & coefficients for tyres on tarmac - ref [1]
*/
/* skid function looks like:
*
* mu ^
* |
* max_mu | +
* | /|
* sliding_mu | / +------
* | /
* | /
* +--+------------------------>
* | | | sideward V
* 0 bkout skid
* V V
*/
static int it_rolls[MAX_GEAR] =
{ 1, 1, 1, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0
};
static DATA sliding_mu[MAX_GEAR] =
{ 0.5, 0.5, 0.5, 0.3,
0.3, 0.3, 0.3, 0.3,
0.3, 0.3, 0.3, 0.3,
0.3, 0.3, 0.3, 0.3
};
static DATA max_brake_mu[MAX_GEAR] =
{ 0.0, 0.6, 0.6, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0
};
static DATA max_mu = 0.8;
static DATA bkout_v = 0.1;
static DATA skid_v = 1.0;
/*
* Local data variables
*/
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
DATA v_wheel_cg_local_v[3]; /*wheel velocity rel to cg N-E-D*/
// DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
// DATA altitude_local_v[3]; /*altitude vector in local (N-E-D) i.e. (0,0,h)*/
// DATA altitude_body_v[3]; /*altitude vector in body (X,Y,Z)*/
DATA temp3a[3];
// DATA temp3b[3];
DATA tempF[3];
DATA tempM[3];
DATA reaction_normal_force; /* wheel normal (to rwy) force */
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
DATA forward_mu, sideward_mu; /* friction coefficients */
DATA beta_mu; /* breakout friction slope */
DATA forward_wheel_force, sideward_wheel_force;
int i; /* per wheel loop counter */
/*
* Execution starts here
*/
beta_mu = max_mu/(skid_v-bkout_v);
clear3( F_gear_v ); /* Initialize sum of forces... */
clear3( M_gear_v ); /* ...and moments */
/*
* Put aircraft specific executable code here
*/
percent_brake[1] = Brake_pct[0];
percent_brake[2] = Brake_pct[1];
caster_angle_rad[0] =
(0.01 + 0.04 * (1 - V_calibrated_kts / 130)) * Rudder_pedal;
for (i=0; i<MAX_GEAR; i++) /* Loop for each wheel */
{
// Execute only if the gear has been defined
if (!gear_model[i])
{
// do nothing
continue;
}
else
{
/*========================================*/
/* Calculate wheel position w.r.t. runway */
/*========================================*/
/* printf("\thgcg: %g, theta: %g,phi: %g\n",D_cg_above_rwy,Theta*RAD_TO_DEG,Phi*RAD_TO_DEG); */
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
sub3( D_gear_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
/* then converting to local (North-East-Down) axes... */
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
/* Runway axes correction - third element is Altitude, not (-)Z... */
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
/* Add wheel offset to cg location in local axes */
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
/* remove Runway axes correction so right hand rule applies */
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
/*============================*/
/* Calculate wheel velocities */
/*============================*/
/* contribution due to angular rates */
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
/* transform into local axes */
multtrans3x3by3( T_local_to_body_m, temp3a,v_wheel_cg_local_v );
/* plus contribution due to cg velocities */
add3( v_wheel_cg_local_v, V_local_rel_ground_v, v_wheel_local_v );
clear3(f_wheel_local_v);
reaction_normal_force=0;
fgSetBool("/gear/gear[0]/wow", false);
fgSetBool("/gear/gear[1]/wow", false);
fgSetBool("/gear/gear[2]/wow", false);
if( HEIGHT_AGL_WHEEL < 0. )
/*the wheel is underground -- which implies ground contact
so calculate reaction forces */
{
//set the property - weight on wheels
// if (i==0)
// {
// fgSetBool("/gear/gear[0]/wow", true);
// }
// if (i==1)
// {
// fgSetBool("/gear/gear[1]/wow", true);
// }
// if (i==2)
// {
// fgSetBool("/gear/gear[2]/wow", true);
// }
/*===========================================*/
/* Calculate forces & moments for this wheel */
/*===========================================*/
/* Add any anticipation, or frame lead/prediction, here... */
/* no lead used at present */
/* Calculate sideward and forward velocities of the wheel
in the runway plane */
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
/* Calculate normal load force (simple spring constant) */
reaction_normal_force = 0.;
reaction_normal_force = kgear[i]*d_wheel_rwy_local_v[2]
- v_wheel_local_v[2]*cgear[i];
/* printf("\treaction_normal_force: %g\n",reaction_normal_force); */
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
/* to prevent damping component from swamping spring component */
/* Calculate friction coefficients */
if(it_rolls[i])
{
forward_mu = (max_brake_mu[i] - muGear[i])*percent_brake[i] + muGear[i];
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
sideward_mu = sliding_mu[i];
if (abs_v_wheel_sideward < skid_v)
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
}
else
{
forward_mu=sliding_mu[i];
sideward_mu=sliding_mu[i];
}
/* Calculate foreward and sideward reaction forces */
forward_wheel_force = forward_mu*reaction_normal_force;
sideward_wheel_force = sideward_mu*reaction_normal_force;
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
/* printf("\tFfwdgear: %g Fsidegear: %g\n",forward_wheel_force,sideward_wheel_force);
*/
/* Rotate into local (N-E-D) axes */
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
- sideward_wheel_force*sin_wheel_hdg_angle;
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
+ sideward_wheel_force*cos_wheel_hdg_angle;
f_wheel_local_v[2] = reaction_normal_force;
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
/* Calculate moments from force and offsets in body axes */
cross3( d_wheel_cg_body_v, tempF, tempM );
/* Sum forces and moments across all wheels */
if (tempF[0] != 0.0 || tempF[1] != 0.0 || tempF[2] != 0.0) {
fgSetBool("/gear/gear[1]/wow", true);
}
add3( tempF, F_gear_v, F_gear_v );
add3( tempM, M_gear_v, M_gear_v );
}
}
/* printf("\tN: %g,dZrwy: %g dZdotrwy: %g\n",reaction_normal_force,HEIGHT_AGL_WHEEL,v_wheel_cg_local_v[2]); */
/*printf("\tFxgear: %g Fygear: %g, Fzgear: %g\n",F_X_gear,F_Y_gear,F_Z_gear);
printf("\tMgear: %g, Lgear: %g, Ngear: %g\n\n",M_m_gear,M_l_gear,M_n_gear); */
}
}
// NOTE: This should work for all triangle elments (303 - 306), but only
// if mid-edge and middle nodes are after "corner" nodes in the node list!
// Return nof intersections
//
int
MeshFaceElementTable::calcTriangleLineIntersections(int elem_index, short direction,
Point3& lstart, Point3& ldir, Point3* isec_points)
{
// Ccw ordered nodes (if elem_dir is -1, it is from the parent2
// and nodes are cw oriented and must me reordered
Point3& p0 = meshNodes[nodeIds[elem_index][0]];
Point3& p1 = meshNodes[nodeIds[elem_index][1]];
Point3& p2 = meshNodes[nodeIds[elem_index][2]];
Point3& normal = normals[elem_index];
static Point3* points[3];
points[0] = (direction >= 0)? &p0 : &p1;
points[1] = (direction >= 0)? &p1 : &p0;
points[2] = &p2;
#if 0
// If element is looking into wrong direction
//
// NOTE: This makes picking much faster, so wew have to use it (unless some better
// method is found), although it means that elements cannot be selected from 'inside',
// which would be quite convenient in some cases!
//
if ( direction == 1 ) {
if ( !isLess(dot3(normal, ldir), 0) ) {
return 0;
}
} else if ( direction == -1 ) {
if ( !isGreater(dot3(normal, ldir), 0) ) {
return 0;
}
}
#endif
// Plane equation for the normal and a point in the plane is;
// (r) dot (normal) = (r0) dot (normal) = d
// So for the form Ax + By + Cz + D = 0, we have
// A = normal[0], B = normal[1], C = normal[2], D = -d
double D = -1 * dot3(p0, normal);
double numer = dot3(normal, lstart) + D;
double denom = dot3(normal, ldir);
double t;
// Intersection
if (denom != 0) {
t = - numer / denom;
// Line is on the plane
} else if (numer == 0) {
t = 0.0;
// Line is parallel,but not in the plane
} else {
return 0;
}
//-Calc intersection point from the line equation
Point3 tmp;
scalarmult(t, ldir, tmp);
Point3 isec_point;
add3(lstart, tmp, isec_point);
// Finally check if intersection point
// is inside the element (triangle)
if ( pointInsideTriangle(isec_point, points, centers[elem_index], rSquares[elem_index]) ) {
copy3(isec_point, *isec_points);
return 1;
} else {
return 0;
}
}
int main()
{
return add3(4, 5, 6);
}
void basic_gear()
{
char rcsid[] = "junk";
#define NUM_WHEELS 4
// char gear_strings[NUM_WHEELS][12]={"nose","right main", "left main", "tail skid"};
/*
* Aircraft specific initializations and data goes here
*/
static int num_wheels = NUM_WHEELS; /* number of wheels */
static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations,full extension */
{
{ .422, 0., .29 }, /*nose*/ /* in feet */
{ 0.026, 0.006, .409 }, /*right main*/
{ 0.026, -.006, .409 }, /*left main*/
{ -1.32, 0, .17 } /*tail skid */
};
// static DATA gear_travel[NUM_WHEELS] = /*in Z-axis*/
// { -0.5, 2.5, 2.5, 0};
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
{ 2., .65, .65, 1. };
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
{ 1., .3, .3, .5 };
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
{ 0., 0., 0., 0. }; /* 0 = none, 1 = full */
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
{ 0., 0., 0., 0}; /* radians, +CW */
/*
* End of aircraft specific code
*/
/*
* Constants & coefficients for tyres on tarmac - ref [1]
*/
/* skid function looks like:
*
* mu ^
* |
* max_mu | +
* | /|
* sliding_mu | / +------
* | /
* | /
* +--+------------------------>
* | | | sideward V
* 0 bkout skid
* V V
*/
static int it_rolls[NUM_WHEELS] = { 1,1,1,0};
static DATA sliding_mu[NUM_WHEELS] = { 0.5, 0.5, 0.5, 0.3};
static DATA rolling_mu[NUM_WHEELS] = { 0.01, 0.01, 0.01, 0.0};
static DATA max_brake_mu[NUM_WHEELS] ={ 0.0, 0.6, 0.6, 0.0};
static DATA max_mu = 0.8;
static DATA bkout_v = 0.1;
static DATA skid_v = 1.0;
/*
* Local data variables
*/
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
DATA v_wheel_cg_local_v[3]; /*wheel velocity rel to cg N-E-D*/
// DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
// DATA altitude_local_v[3]; /*altitude vector in local (N-E-D) i.e. (0,0,h)*/
// DATA altitude_body_v[3]; /*altitude vector in body (X,Y,Z)*/
DATA temp3a[3];
// DATA temp3b[3];
DATA tempF[3];
DATA tempM[3];
DATA reaction_normal_force; /* wheel normal (to rwy) force */
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
DATA forward_mu, sideward_mu; /* friction coefficients */
DATA beta_mu; /* breakout friction slope */
DATA forward_wheel_force, sideward_wheel_force;
int i; /* per wheel loop counter */
/*
* Execution starts here
*/
beta_mu = max_mu/(skid_v-bkout_v);
clear3( F_gear_v ); /* Initialize sum of forces... */
clear3( M_gear_v ); /* ...and moments */
/*
* Put aircraft specific executable code here
*/
percent_brake[1] = Brake_pct[0];
percent_brake[2] = Brake_pct[1];
caster_angle_rad[0] =
(0.01 + 0.04 * (1 - V_calibrated_kts / 130)) * Rudder_pedal;
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
{
/* printf("%s:\n",gear_strings[i]); */
/*========================================*/
/* Calculate wheel position w.r.t. runway */
/*========================================*/
/* printf("\thgcg: %g, theta: %g,phi: %g\n",D_cg_above_rwy,Theta*RAD_TO_DEG,Phi*RAD_TO_DEG); */
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
/* then converting to local (North-East-Down) axes... */
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
/* Runway axes correction - third element is Altitude, not (-)Z... */
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
/* Add wheel offset to cg location in local axes */
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
/* remove Runway axes correction so right hand rule applies */
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
/*============================*/
/* Calculate wheel velocities */
/*============================*/
/* contribution due to angular rates */
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
/* transform into local axes */
multtrans3x3by3( T_local_to_body_m, temp3a,v_wheel_cg_local_v );
/* plus contribution due to cg velocities */
add3( v_wheel_cg_local_v, V_local_rel_ground_v, v_wheel_local_v );
clear3(f_wheel_local_v);
reaction_normal_force=0;
if( HEIGHT_AGL_WHEEL < 0. )
/*the wheel is underground -- which implies ground contact
so calculate reaction forces */
{
/*===========================================*/
/* Calculate forces & moments for this wheel */
/*===========================================*/
/* Add any anticipation, or frame lead/prediction, here... */
/* no lead used at present */
/* Calculate sideward and forward velocities of the wheel
in the runway plane */
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
/* Calculate normal load force (simple spring constant) */
reaction_normal_force = 0.;
reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
- v_wheel_local_v[2]*spring_damping[i];
/* printf("\treaction_normal_force: %g\n",reaction_normal_force); */
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
/* to prevent damping component from swamping spring component */
/* Calculate friction coefficients */
if(it_rolls[i])
{
forward_mu = (max_brake_mu[i] - rolling_mu[i])*percent_brake[i] + rolling_mu[i];
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
sideward_mu = sliding_mu[i];
if (abs_v_wheel_sideward < skid_v)
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
}
else
{
forward_mu=sliding_mu[i];
sideward_mu=sliding_mu[i];
}
/* Calculate foreward and sideward reaction forces */
forward_wheel_force = forward_mu*reaction_normal_force;
sideward_wheel_force = sideward_mu*reaction_normal_force;
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
/* printf("\tFfwdgear: %g Fsidegear: %g\n",forward_wheel_force,sideward_wheel_force);
*/
/* Rotate into local (N-E-D) axes */
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
- sideward_wheel_force*sin_wheel_hdg_angle;
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
+ sideward_wheel_force*cos_wheel_hdg_angle;
f_wheel_local_v[2] = reaction_normal_force;
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
/* Calculate moments from force and offsets in body axes */
cross3( d_wheel_cg_body_v, tempF, tempM );
/* Sum forces and moments across all wheels */
add3( tempF, F_gear_v, F_gear_v );
add3( tempM, M_gear_v, M_gear_v );
}
/* printf("\tN: %g,dZrwy: %g dZdotrwy: %g\n",reaction_normal_force,HEIGHT_AGL_WHEEL,v_wheel_cg_local_v[2]); */
/* printf("\tFxgear: %g Fygear: %g, Fzgear: %g\n",F_X_gear,F_Y_gear,F_Z_gear); */
/* printf("\tMgear: %g, Lgear: %g, Ngear: %g\n\n",M_m_gear,M_l_gear,M_n_gear); */
}
}
