void v4math_object::test<17>()
{
F32 x = 1.f, y = 2.f, z = -1.1f,epsilon = .23425f;
LLVector4 vec4(x,y,z), vec4a(x,y,z);
ensure("1:are_parallel: Fail " ,(TRUE == are_parallel(vec4a,vec4,epsilon)));
x = 21.f, y = 12.f, z = -123.1f;
vec4a.clearVec();
vec4a.setVec(x,y,z);
ensure("2:are_parallel: Fail " ,(FALSE == are_parallel(vec4a,vec4,epsilon)));
}
void v3dmath_object::test<23>()
{
F64 x = 10., y = 20., z = -15.;
F64 epsilon = .23425;
LLVector3d vec3Da(x,y,z), vec3Db(x,y,z);
ensure("1:are_parallel: Fail ", (TRUE == are_parallel(vec3Da,vec3Db,epsilon)));
F64 x1 = -12., y1 = -20., z1 = -100.;
vec3Db.clearVec();
vec3Db.setVec(x1,y1,z1);
ensure("2:are_parallel: Fail ", (FALSE == are_parallel(vec3Da,vec3Db,epsilon)));
}
//-----------------------------------------------------------------------------
// solve()
//-----------------------------------------------------------------------------
void LLJointSolverRP3::solve()
{
// llinfos << llendl;
// llinfos << "LLJointSolverRP3::solve()" << llendl;
//-------------------------------------------------------------------------
// setup joints in their base rotations
//-------------------------------------------------------------------------
mJointA->setRotation( mJointABaseRotation );
mJointB->setRotation( mJointBBaseRotation );
//-------------------------------------------------------------------------
// get joint positions in world space
//-------------------------------------------------------------------------
LLVector3 aPos = mJointA->getWorldPosition();
LLVector3 bPos = mJointB->getWorldPosition();
LLVector3 cPos = mJointC->getWorldPosition();
LLVector3 gPos = mJointGoal->getWorldPosition();
// llinfos << "bPosLocal = " << mJointB->getPosition() << llendl;
// llinfos << "cPosLocal = " << mJointC->getPosition() << llendl;
// llinfos << "bRotLocal = " << mJointB->getRotation() << llendl;
// llinfos << "cRotLocal = " << mJointC->getRotation() << llendl;
// llinfos << "aPos : " << aPos << llendl;
// llinfos << "bPos : " << bPos << llendl;
// llinfos << "cPos : " << cPos << llendl;
// llinfos << "gPos : " << gPos << llendl;
//-------------------------------------------------------------------------
// get the poleVector in world space
//-------------------------------------------------------------------------
LLVector3 poleVec = mPoleVector;
if ( mJointA->getParent() )
{
LLVector4a pole_veca;
pole_veca.load3(mPoleVector.mV);
mJointA->getParent()->getWorldMatrix().rotate(pole_veca,pole_veca);
poleVec.set(pole_veca.getF32ptr());
}
//-------------------------------------------------------------------------
// compute the following:
// vector from A to B
// vector from B to C
// vector from A to C
// vector from A to G (goal)
//-------------------------------------------------------------------------
LLVector3 abVec = bPos - aPos;
LLVector3 bcVec = cPos - bPos;
LLVector3 acVec = cPos - aPos;
LLVector3 agVec = gPos - aPos;
// llinfos << "abVec : " << abVec << llendl;
// llinfos << "bcVec : " << bcVec << llendl;
// llinfos << "acVec : " << acVec << llendl;
// llinfos << "agVec : " << agVec << llendl;
//-------------------------------------------------------------------------
// compute needed lengths of those vectors
//-------------------------------------------------------------------------
F32 abLen = abVec.magVec();
F32 bcLen = bcVec.magVec();
F32 agLen = agVec.magVec();
// llinfos << "abLen : " << abLen << llendl;
// llinfos << "bcLen : " << bcLen << llendl;
// llinfos << "agLen : " << agLen << llendl;
//-------------------------------------------------------------------------
// compute component vector of (A->B) orthogonal to (A->C)
//-------------------------------------------------------------------------
LLVector3 abacCompOrthoVec = abVec - acVec * ((abVec * acVec)/(acVec * acVec));
// llinfos << "abacCompOrthoVec : " << abacCompOrthoVec << llendl;
//-------------------------------------------------------------------------
// compute the normal of the original ABC plane (and store for later)
//-------------------------------------------------------------------------
LLVector3 abcNorm;
if (!mbUseBAxis)
{
if( are_parallel(abVec, bcVec, 0.001f) )
{
// the current solution is maxed out, so we use the axis that is
// orthogonal to both poleVec and A->B
if ( are_parallel(poleVec, abVec, 0.001f) )
{
// ACK! the problem is singular
if ( are_parallel(poleVec, agVec, 0.001f) )
{
// the solutions is also singular
return;
}
else
{
abcNorm = poleVec % agVec;
}
}
else
{
abcNorm = poleVec % abVec;
}
}
else
{
abcNorm = abVec % bcVec;
}
}
else
{
abcNorm = mBAxis * mJointB->getWorldRotation();
}
//-------------------------------------------------------------------------
// compute rotation of B
//-------------------------------------------------------------------------
// angle between A->B and B->C
F32 abbcAng = angle_between(abVec, bcVec);
// vector orthogonal to A->B and B->C
LLVector3 abbcOrthoVec = abVec % bcVec;
if (abbcOrthoVec.magVecSquared() < 0.001f)
{
abbcOrthoVec = poleVec % abVec;
abacCompOrthoVec = poleVec;
}
abbcOrthoVec.normVec();
F32 agLenSq = agLen * agLen;
// angle arm for extension
F32 cosTheta = (agLenSq - abLen*abLen - bcLen*bcLen) / (2.0f * abLen * bcLen);
if (cosTheta > 1.0f)
cosTheta = 1.0f;
else if (cosTheta < -1.0f)
cosTheta = -1.0f;
F32 theta = acos(cosTheta);
LLQuaternion bRot(theta - abbcAng, abbcOrthoVec);
// llinfos << "abbcAng : " << abbcAng << llendl;
// llinfos << "abbcOrthoVec : " << abbcOrthoVec << llendl;
// llinfos << "agLenSq : " << agLenSq << llendl;
// llinfos << "cosTheta : " << cosTheta << llendl;
// llinfos << "theta : " << theta << llendl;
// llinfos << "bRot : " << bRot << llendl;
// llinfos << "theta abbcAng theta-abbcAng: " << theta*180.0/F_PI << " " << abbcAng*180.0f/F_PI << " " << (theta - abbcAng)*180.0f/F_PI << llendl;
//-------------------------------------------------------------------------
// compute rotation that rotates new A->C to A->G
//-------------------------------------------------------------------------
// rotate B->C by bRot
bcVec = bcVec * bRot;
// update A->C
acVec = abVec + bcVec;
LLQuaternion cgRot;
cgRot.shortestArc( acVec, agVec );
// llinfos << "bcVec : " << bcVec << llendl;
// llinfos << "acVec : " << acVec << llendl;
// llinfos << "cgRot : " << cgRot << llendl;
// update A->B and B->C with rotation from C to G
abVec = abVec * cgRot;
bcVec = bcVec * cgRot;
abcNorm = abcNorm * cgRot;
acVec = abVec + bcVec;
//-------------------------------------------------------------------------
// compute the normal of the APG plane
//-------------------------------------------------------------------------
if (are_parallel(agVec, poleVec, 0.001f))
{
// the solution plane is undefined ==> we're done
return;
}
LLVector3 apgNorm = poleVec % agVec;
apgNorm.normVec();
if (!mbUseBAxis)
{
//---------------------------------------------------------------------
// compute the normal of the new ABC plane
// (only necessary if we're NOT using mBAxis)
//---------------------------------------------------------------------
if( are_parallel(abVec, bcVec, 0.001f) )
{
// G is either too close or too far away
// we'll use the old ABCnormal
}
else
{
abcNorm = abVec % bcVec;
}
abcNorm.normVec();
}
//-------------------------------------------------------------------------
// calcuate plane rotation
//-------------------------------------------------------------------------
LLQuaternion pRot;
if ( are_parallel( abcNorm, apgNorm, 0.001f) )
{
if (abcNorm * apgNorm < 0.0f)
{
// we must be PI radians off ==> rotate by PI around agVec
pRot.setQuat(F_PI, agVec);
}
else
{
// we're done
}
}
else
{
pRot.shortestArc( abcNorm, apgNorm );
}
// llinfos << "abcNorm = " << abcNorm << llendl;
// llinfos << "apgNorm = " << apgNorm << llendl;
// llinfos << "pRot = " << pRot << llendl;
//-------------------------------------------------------------------------
// compute twist rotation
//-------------------------------------------------------------------------
LLQuaternion twistRot( mTwist, agVec );
// llinfos << "twist : " << mTwist*180.0/F_PI << llendl;
// llinfos << "agNormVec: " << agNormVec << llendl;
// llinfos << "twistRot : " << twistRot << llendl;
//-------------------------------------------------------------------------
// compute rotation of A
//-------------------------------------------------------------------------
LLQuaternion aRot = cgRot * pRot * twistRot;
//-------------------------------------------------------------------------
// apply the rotations
//-------------------------------------------------------------------------
mJointB->setWorldRotation( mJointB->getWorldRotation() * bRot );
mJointA->setWorldRotation( mJointA->getWorldRotation() * aRot );
}
