TEST_F(MassSpringConstraintFixedPointTest, ConstraintConstantsTest)
{
auto implementation = std::make_shared<MassSpringConstraintFixedPoint>();
EXPECT_EQ(SurgSim::Physics::FIXED_3DPOINT, implementation->getConstraintType());
EXPECT_EQ(3u, implementation->getNumDof());
}
/**
* Read and store a constraint from the given file.
*
* Returns 0 if the process finished correctly, otherwise returns 1.
*/
int readConstraint( char buf[], FILE* fp, double* a, double* b, int* equalityType, int variables ){
char *stringPointer;
if( NULL == fgets(buf, MAX_LINE_LENGTH, fp) ) // read in buf
return FAILURE;
// sets the pointer to the start the of the string to check some stuff
stringPointer = &buf[0];
// find the position of the first wrong symbol in that line, if some exists
int posWrongSymbol = strspn(stringPointer, "#-0123456789.<=> ");
// find the position of a comment
char *posComment = strchr(stringPointer, '#');
// difference between comment and code
ptrdiff_t diff = posComment-stringPointer;
// if a wrong symbol comes before a comment starts stop all calculations
if ( diff > posWrongSymbol-1 || (posWrongSymbol < strlen(stringPointer)-1 && diff < 0 ) ){
printf("[ERROR] Found undefined characters at position %d.\n", posWrongSymbol);
return FAILURE;
}
// if there are no whitespaces or something other weired stuff happened, stopp all calculations
if ( NULL == (stringPointer = strtok(buf, " ")) ){
printf("[ERROR] Cannot split the given constraint on whitespaces.\n");
return FAILURE;
}
// otherwise read in all coefficients
int i;
for ( i = 0; i < variables; i++ ){
// if the followed section is not a number
if ( strspn(stringPointer, "-.0123456789") < strlen(stringPointer) ){
printf( "[ERROR] Not a number at position %d\n", (i+1));
return FAILURE;
} else sscanf( stringPointer, "%lf", (a+i) );
// null pointer check
if ( NULL == (stringPointer = strtok(NULL, " ")) ){
printf( "[ERROR] Reached line end after %d coefficients... expected more information for this constraint.\n",
(i+1));
return FAILURE;
}
}
// if equality type doesn't exist, stop calculations
if ( NONE == (*equalityType = getConstraintType(stringPointer)) ){
printf("[ERROR] Undefined constraint type. Try '<', '<=', '=', '>=' or '>'.\n");
return FAILURE;
} else if ( NULL == (stringPointer = strtok(NULL, " ")) ){
printf("[ERROR] Reached line end... expected a solution value.\n");
return FAILURE;
} else sscanf( stringPointer, "%lf", b );
return DONE;
}
int GOConstraint::methodsBridge(lua_State* luaVM) {
if (isCurrentMethod("getFullID")) {
lua_pushstring(luaVM, id.c_str());
return 1;
}
if (isCurrentMethod("setPivot")) {
setPivot(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)));
return 0;
}
if (isCurrentMethod("getPivot")) {
luaPushVector(luaVM, getPivot().x, getPivot().y, getPivot().z);
return 1;
}
if (isCurrentMethod("getConstraintType")) {
lua_pushinteger(luaVM, getConstraintType());
return 1;
}
if (isCurrentMethod("setSecondObject")) {
if (lua_isnil(luaVM, 1)) {
setSecondObject(NULL);
return 0;
}
lua_pushstring(luaVM, "cpointer");
lua_gettable(luaVM, -2);
PhysicObject* o = (PhysicObject*)lua_tointeger(luaVM, -1);
setSecondObject(o);
lua_pop(luaVM, -1);
return 0;
}
if (isCurrentMethod("getSecondObject")) {
if (getSecondObject() == NULL || getSecondObject()->getObjectID() == "") {
lua_pushnil(luaVM);
}
lua_getglobal(luaVM, getSecondObject()->getObjectID().c_str());
return 1;
}
if (isCurrentMethod("setSecondPivot")) {
setSecondPivot(CVector(lua_tonumber(luaVM, 1), lua_tonumber(luaVM, 2), lua_tonumber(luaVM, 3)));
return 0;
}
if (isCurrentMethod("getSecondPivot")) {
luaPushVector(luaVM, getSecondPivot().x, getSecondPivot().y, getSecondPivot().z);
return 1;
}
if (isCurrentMethod("setSecondObjectID")) {
string objid = lua_tostring(luaVM, 1);
PhysicObject* obj = (PhysicObject*)Game::instance->mapManager->findByID(objid);
setSecondObject(obj);
return 0;
}
if (isCurrentMethod("getSecondObjectID")) {
if (getSecondObject() == NULL) {
lua_pushstring(luaVM, "");
return 0;
}
lua_pushstring(luaVM, getSecondObject()->getObjectID().c_str());
return 1;
}
return LuaBridge::methodsBridge(luaVM);
}
