void rotate_roll(float fator) //Z
{
_V = mat.rotation3Dz(fator*graus)*_V;
_U = mat.rotation3Dz(fator*graus)*_U;
_N = mat.rotation3Dz(fator*graus)*_N;
normalize_all();
}
void rotate_yaw(float fator) //Y
{
_V = mat.rotation3Dy(fator*graus)*_V;
_U = mat.rotation3Dy(fator*graus)*_U;
_N = mat.rotation3Dy(fator*graus)*_N;
normalize_all();
}
void rotate_pitch(float fator) //X
{
_V = mat.rotation3Dx(fator*graus)*_V;
_U = mat.rotation3Dx(fator*graus)*_U;
_N = mat.rotation3Dx(fator*graus)*_N;
normalize_all();
}
// bactkrack one level
static void test_backtrack(test_bench_t *bench) {
assert(bench->decision_level > bench->base_level);
printf("[%"PRIu32"]: TEST BACKTRACK to decision level %"PRIu32"\n", ctr, bench->decision_level - 1);
equality_queue_backtrack(&bench->equeue);
test_bench_undo_subst(bench);
op_stack_backtrack(bench);
bench->decision_level --;
if (bench->show_details) {
// print state after backtracking
printf("AFTER BACKTRACK: decision level = %"PRIu32", base level = %"PRIu32"\n", bench->decision_level, bench->base_level);
normalize_all(bench);
printf("Active polys\n");
print_active_polys(bench);
printf("Assertions\n");
print_all_equalities(bench);
printf("Normal forms\n");
print_normal_forms(bench);
}
offset_manager_backtrack(&bench->manager, bench->decision_level);
ctr ++;
}
static void test_propagate(test_bench_t *bench) {
ivector_t expl;
printf("[%"PRIu32"]: TEST_PROPAGATE: decision level = %"PRIu32", base level = %"PRIu32"\n", ctr, bench->decision_level, bench->base_level);
push_propagate(&bench->stack);
normalize_all(bench);
if (bench->show_details) {
printf("Active polys\n");
print_active_polys(bench);
printf("Assertions\n");
print_all_equalities(bench);
printf("Normal forms\n");
print_normal_forms(bench);
}
if (bench->conflict) {
printf("Expected result: conflict\n\n");
} else {
printf("Expected classes\n");
print_expected_classes(bench);
}
if (offset_manager_propagate(&bench->manager)) {
bench->mngr_conflict = false;
printf("Propagated classes\n");
print_infered_classes(bench);
check_propagation(bench);
check_all_propagated(bench);
if (bench->conflict) {
printf("BUG: conflict expected\n");
fflush(stdout);
exit(1);
}
} else {
bench->mngr_conflict = true;
printf("Conflict\n");
init_ivector(&expl, 10);
offset_manager_explain_conflict(&bench->manager, &expl);
print_explanation(bench, &expl);
check_conflict(bench, &expl);
delete_ivector(&expl);
if (! bench->conflict) {
printf("BUG: conflict unexpected\n");
fflush(stdout);
exit(1);
}
}
ctr ++;
}
static void test_pop(test_bench_t *bench) {
assert(bench->base_level > 0);
printf("[%"PRIu32"]: TEST POP to base level %"PRIu32"\n", ctr, bench->base_level - 1);
if (bench->decision_level > bench->base_level) {
// backtrack in the test_bench
do {
equality_queue_backtrack(&bench->equeue);
test_bench_undo_subst(bench);
op_stack_backtrack(bench);
bench->decision_level --;
} while (bench->decision_level > bench->base_level);
// backtrack in offset_manager
offset_manager_backtrack(&bench->manager, bench->decision_level);
}
// bactrack once more
equality_queue_backtrack(&bench->equeue);
test_bench_undo_subst(bench);
test_bench_undo_activations(bench);
bench->decision_level --;
bench->base_level --;
if (bench->show_details) {
// print state after pop
printf("AFTER POP: decision level = %"PRIu32", base level = %"PRIu32"\n", bench->decision_level, bench->base_level);
normalize_all(bench);
printf("Active polys\n");
print_active_polys(bench);
printf("Assertions\n");
print_all_equalities(bench);
printf("Normal forms\n");
print_normal_forms(bench);
}
offset_manager_pop(&bench->manager);
ctr ++;
}
