bool
SavedStacks::insertFrames(JSContext *cx, ScriptFrameIter &iter, MutableHandle<SavedFrame*> frame)
{
if (iter.done()) {
frame.set(nullptr);
return true;
}
ScriptFrameIter thisFrame(iter);
Rooted<SavedFrame*> parentFrame(cx);
if (!insertFrames(cx, ++iter, &parentFrame))
return false;
RootedScript script(cx, thisFrame.script());
RootedFunction callee(cx, thisFrame.maybeCallee());
const char *filename = script->filename();
RootedAtom source(cx, Atomize(cx, filename, strlen(filename)));
if (!source)
return false;
uint32_t column;
uint32_t line = PCToLineNumber(script, thisFrame.pc(), &column);
SavedFrame::Lookup lookup(source,
line,
column,
callee ? callee->displayAtom() : nullptr,
parentFrame,
thisFrame.compartment()->principals);
frame.set(getOrCreateSavedFrame(cx, lookup));
return frame.address() != nullptr;
}
void cmuk::computeVelocities(const DState& state,
const XformCache& cache,
const vec3f& roffs,
vec3f linvel[],
vec3f angvel[]) const {
if (!linvel || !angvel) { return; }
vec3f woffs = cache.absXforms[0].rotFwd() * roffs;
linvel[0] = state.body_vel + vec3f::cross(angvel[0], -woffs);
angvel[0] = state.body_angvel;
for (int i=0; i<NUM_LEGS; ++i) {
static const vec3f raxis[3] = {
vec3f(1, 0, 0),
vec3f(0, 1, 0),
vec3f(0, 1, 0)
};
for (int j=0; j<4; ++j) {
int fidx = FRAME_FL_HIP_RX + 4*i + j;
int pidx = parentFrame(fidx);
const Transform3f& t0 = cache.absXforms[pidx];
const Transform3f& t1 = cache.absXforms[fidx];
const vec3f& x0 = t0.translation();
const vec3f& x1 = t1.translation();
vec3f d = x1 - x0;
if (pidx == 0) {
d -= woffs;
}
linvel[fidx] = linvel[pidx] + vec3f::cross(angvel[pidx], d);
if (j < 3) {
vec3f v = t0.rotFwd() * raxis[j];
angvel[fidx] = angvel[pidx] + state.leg_rotvel[i][j] * v;
} else {
angvel[fidx] = angvel[pidx];
}
}
}
}
abstract_vframe* blockOopClass::parentVFrame(frame* currentFrame, bool orNone) {
frame* pf= parentFrame(currentFrame, orNone);
return pf == NULL ? NULL : new_vframe(pf, desc());
}
CMUK_ERROR_CODE cmuk::getRelTransform( const cmuk::XformCache& cache,
FrameIndex f0,
FrameIndex f1,
Transform3f* xform ) const {
int if0 = int(f0);
int if1 = int(f1);
if (if0 != FRAME_GROUND && (if0 < 0 || if0 >= NUM_FRAMES)) {
return CMUK_BAD_FRAME_INDEX;
}
if (if1 !=FRAME_GROUND && (if1 < 0 || if1 >= NUM_FRAMES)) {
return CMUK_BAD_FRAME_INDEX;
}
if (!xform) {
return CMUK_INSUFFICIENT_ARGUMENTS;
}
int leg0 = -1;
int leg1 = -1;
if (if0 > int(FRAME_TRUNK)) { leg0 = (if0 - 1) / 4; }
if (if1 > int(FRAME_TRUNK)) { leg1 = (if0 - 1) / 4; }
if (leg0 >= 0 && leg1 >= 0 && leg0 != leg1) {
Transform3f t1, t2;
CMUK_ERROR_CODE status;
status = getRelTransform(cache, f0, FRAME_TRUNK, &t1);
if (status != CMUK_OKAY) { return status; }
status = getRelTransform(cache, FRAME_TRUNK, f1, &t2);
if (status != CMUK_OKAY) { return status; }
*xform = t1 * t2;
return CMUK_OKAY;
}
if (if0 == if1) {
*xform = Transform3f();
return CMUK_OKAY;
}
// if1 should be smaller than if0
bool swap = if0 < if1;
if (swap) {
int tmp = if0;
if0 = if1;
if1 = tmp;
}
Transform3f rval = cache.relXforms[if0];
if0 = parentFrame(if0);
// now we are going to decrement if0
while (if1 < if0 && if0 > 0) {
rval = rval * cache.relXforms[if0];
if0 = parentFrame(if0);
}
if (swap) {
rval = rval.inverse();
}
*xform = rval;
return CMUK_OKAY;
}
bool
SavedStacks::insertFrames(JSContext *cx, FrameIter &iter, MutableHandleSavedFrame frame,
unsigned maxFrameCount)
{
// In order to lookup a cached SavedFrame object, we need to have its parent
// SavedFrame, which means we need to walk the stack from oldest frame to
// youngest. However, FrameIter walks the stack from youngest frame to
// oldest. The solution is to append stack frames to a vector as we walk the
// stack with FrameIter, and then do a second pass through that vector in
// reverse order after the traversal has completed and get or create the
// SavedFrame objects at that time.
//
// To avoid making many copies of FrameIter (whose copy constructor is
// relatively slow), we save the subset of FrameIter's data that is relevant
// to our needs in a FrameState object, and maintain a vector of FrameState
// objects instead of a vector of FrameIter objects.
// Accumulate the vector of FrameState objects in |stackState|.
AutoFrameStateVector stackState(cx);
while (!iter.done()) {
AutoLocationValueRooter location(cx);
{
AutoCompartment ac(cx, iter.compartment());
if (!cx->compartment()->savedStacks().getLocation(cx, iter, &location))
return false;
}
{
FrameState frameState(iter);
frameState.location = location.get();
if (!stackState->append(frameState))
return false;
}
++iter;
if (maxFrameCount == 0) {
// If maxFrameCount is zero, then there's no limit on the number of
// frames.
continue;
} else if (maxFrameCount == 1) {
// Since we were only asked to save one frame, do not continue
// walking the stack and saving frame state.
break;
} else {
maxFrameCount--;
}
}
// Iterate through |stackState| in reverse order and get or create the
// actual SavedFrame instances.
RootedSavedFrame parentFrame(cx, nullptr);
for (size_t i = stackState->length(); i != 0; i--) {
SavedFrame::AutoLookupRooter lookup(cx,
stackState[i-1].location.source,
stackState[i-1].location.line,
stackState[i-1].location.column,
stackState[i-1].name,
parentFrame,
stackState[i-1].principals);
parentFrame.set(getOrCreateSavedFrame(cx, lookup));
if (!parentFrame)
return false;
}
frame.set(parentFrame);
return true;
}
