IoObject *IoODEMass_parameters(IoODEMass *self, IoObject *locals, IoMessage *m)
{
// vector(theMass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23)
UArray *u = UArray_new();
int i, j = 0;
UArray_setItemType_(u, CTYPE_float32_t);
UArray_setSize_(u, 10);
UArray_at_putDouble_(u, j++, DATA(self)->mass);
for(i=0; i < 3; i++)
{
UArray_at_putDouble_(u, j++, DATA(self)->c[i]);
}
// 0 1 2 3 4 5 6 7 8 9 10 11
// I == vector(I11, I12, I13, _, I12, I22, I23, _, I13, I23, I33, _)
UArray_at_putDouble_(u, j++, DATA(self)->I[0 ]); // I11
UArray_at_putDouble_(u, j++, DATA(self)->I[5 ]); // I22
UArray_at_putDouble_(u, j++, DATA(self)->I[10]); // I33
UArray_at_putDouble_(u, j++, DATA(self)->I[1 ]); // I12
UArray_at_putDouble_(u, j++, DATA(self)->I[2 ]); // I13
UArray_at_putDouble_(u, j++, DATA(self)->I[6 ]); // I23
return IoSeq_newWithUArray_copy_(IOSTATE, u, 1);
}
IoObject *IoODEBody_quaternion(IoODEBody *self, IoObject *locals, IoMessage *m)
{
IoODEBody_assertValidBody(self, locals, m);
{
const dReal *q = dBodyGetQuaternion(BODYID);
IoSeq *v = IoSeq_newFloatArrayOfSize_(IOSTATE, 4);
UArray *u = IoSeq_rawUArray(v);
UArray_at_putDouble_(u, 0, q[0]);
UArray_at_putDouble_(u, 1, q[1]);
UArray_at_putDouble_(u, 2, q[2]);
UArray_at_putDouble_(u, 3, q[3]);
return v;
}
}
IoObject *IoODEBody_rotation(IoODEBody *self, IoObject *locals, IoMessage *m)
{
IoODEBody_assertValidBody(self, locals, m);
{
const dReal *R = dBodyGetRotation(BODYID);
IoSeq *v = IoSeq_newFloatArrayOfSize_(IOSTATE, 9);
UArray *u = IoSeq_rawUArray(v);
UArray_at_putDouble_(u, 0, R[0]);
UArray_at_putDouble_(u, 1, R[4]);
UArray_at_putDouble_(u, 2, R[8]);
UArray_at_putDouble_(u, 3, R[1]);
UArray_at_putDouble_(u, 4, R[5]);
UArray_at_putDouble_(u, 5, R[9]);
UArray_at_putDouble_(u, 6, R[2]);
UArray_at_putDouble_(u, 7, R[6]);
UArray_at_putDouble_(u, 8, R[10]);
return v;
}
}
IoObject *IoODEMass_inertiaTensor(IoODEMass *self, IoObject *locals, IoMessage *m)
{
UArray *u = UArray_new();
int i, j;
UArray_setItemType_(u, CTYPE_float32_t);
UArray_setSize_(u, 9);
// I == vector(I11, I12, I13, _, I12, I22, I23, _, I13, I23, I33, _)
for(i = 0, j = 0; i < 12; i++)
{
if ((i + 1) % 4)
{
UArray_at_putDouble_(u, j++, DATA(self)->I[i]);
}
}
return IoSeq_newWithUArray_copy_(IOSTATE, u, 1);
}
IO_METHOD(IoSeq, atPut)
{
/*doc Sequence atPut(aNumberIndex, aNumber)
Sets the value at the index specified by aNumberIndex to aNumber. Returns self.
*/
size_t i = IoMessage_locals_longArgAt_(m, locals, 0);
UArray *a = DATA(self);
IO_ASSERT_NOT_SYMBOL(self);
if (UArray_isFloatType(a))
{
double v = IoMessage_locals_doubleArgAt_(m, locals, 1);
UArray_at_putDouble_(a, i, v);
}
else
{
long v = IoMessage_locals_longArgAt_(m, locals, 1);
UArray_at_putLong_(a, i, v);
}
return self;
}
int IoAVCodec_findStreams(IoAVCodec *self)
{
AVFormatContext *formatContext = DATA(self)->formatContext;
int i;
av_find_stream_info(formatContext);
//printf("formatContext = %p streams = %i\n", (void *)formatContext, formatContext->nb_streams);
for(i = 0; i < formatContext->nb_streams; i++)
{
AVStream *stream = formatContext->streams[i];
AVCodecContext *codecContext = stream->codec;
switch(codecContext->codec_type)
{
case CODEC_TYPE_AUDIO:
DATA(self)->audioStreamIndex = i;
{
AVCodec *codec = avcodec_find_decoder(codecContext->codec_id);
if (codec)
{
int err = avcodec_open(codecContext, codec);
if (err == 0)
{
DATA(self)->audioContext = codecContext;
}
}
}
//printf("audioStreamIndex = %i\n", DATA(self)->audioStreamIndex);
IoObject_setSlot_to_(self, IOSYMBOL("audioChannels"), IONUMBER(codecContext->channels));
IoObject_setSlot_to_(self, IOSYMBOL("audioSampleRate"), IONUMBER(codecContext->sample_rate));
IoObject_setSlot_to_(self, IOSYMBOL("audioBitRate"), IONUMBER(codecContext->bit_rate));
IoObject_setSlot_to_(self, IOSYMBOL("audioDuration"), IONUMBER(stream->duration));
IoObject_setSlot_to_(self, IOSYMBOL("audioFrameCount"), IONUMBER(stream->nb_frames));
break;
case CODEC_TYPE_VIDEO:
{
DATA(self)->videoStreamIndex = i;
{
AVCodec *codec = avcodec_find_decoder(codecContext->codec_id);
if (codec)
{
int err = avcodec_open(codecContext, codec);
if (err == 0)
{
DATA(self)->videoContext = codecContext;
}
}
}
//printf("videoStreamIndex = %i\n", DATA(self)->videoStreamIndex);
{
float framePeriod = (((float)codecContext->time_base.num)/((float)codecContext->time_base.den));
//UArray *sizeUArray = UArray_newWithData_type_encoding_size_copy_("", CTYPE_float32_t, CENCODING_NUMBER, 2, 1);
IoObject_setSlot_to_(self, IOSYMBOL("framePeriod"), IONUMBER(framePeriod));
IoObject_setSlot_to_(self, IOSYMBOL("videoDuration"), IONUMBER(stream->duration));
IoObject_setSlot_to_(self, IOSYMBOL("videoFrameCount"), IONUMBER(stream->nb_frames));
}
{
UArray *sizeUArray = UArray_newWithData_type_encoding_size_copy_("", CTYPE_float32_t, CENCODING_NUMBER, 2, 1);
IoSeq *sizeSeq = IoSeq_newWithUArray_copy_(IOSTATE, sizeUArray, 0);
UArray_at_putDouble_(sizeUArray, 0, codecContext->width);
UArray_at_putDouble_(sizeUArray, 1, codecContext->height);
IoObject_setSlot_to_(self, IOSYMBOL("videoSize"), sizeSeq);
}
break;
}
case CODEC_TYPE_UNKNOWN:
continue;
case CODEC_TYPE_DATA:
continue;
case CODEC_TYPE_SUBTITLE:
continue;
case CODEC_TYPE_NB:
continue;
default:
continue;
}
}
return 0;
}
