int main()
{
initRand();
const int size=26;
int a[size], b[size], out[size];
// make up some random permuations
shuffle(a, size);
shuffle(b, size);
for (int i=0; i<200; i++) {
print((char *)"B", b, size);
print((char *)"A", a, size);
pmx(a, b, out, 3, size);
print((char *)"OUT", out, size);
printf("\n");
if (!isPermP(out, size)) {
printf("ERROR: NOT PERM: ");
print((char *)"", out, size);
}
}
return 0;
}
void CCone::GetGripperPositions(std::list<GripData> *list, bool just_for_endof)
{
gp_Pnt o = m_pos.Location();
gp_Pnt px(o.XYZ() + m_pos.XDirection().XYZ() * m_r1);
gp_Dir z_dir = m_pos.XDirection() ^ m_pos.YDirection();
gp_Pnt py(o.XYZ() + m_pos.YDirection().XYZ() * m_r1);
gp_Pnt pyz(o.XYZ() + m_pos.YDirection().XYZ() * m_r2 + z_dir.XYZ() * m_height);
gp_Pnt pmx(o.XYZ() + m_pos.XDirection().XYZ() * (-m_r1));
gp_Pnt pz(o.XYZ() + z_dir.XYZ() * m_height);
gp_Pnt pxz(o.XYZ() + m_pos.XDirection().XYZ() * m_r2 + z_dir.XYZ() * m_height);
list->push_back(GripData(GripperTypeTranslate,o.X(),o.Y(),o.Z(),NULL));
list->push_back(GripData(GripperTypeStretch,px.X(),px.Y(),px.Z(),NULL));
list->push_back(GripData(GripperTypeObjectScaleZ,pz.X(),pz.Y(),pz.Z(),NULL));
list->push_back(GripData(GripperTypeStretch,pxz.X(),pxz.Y(),pxz.Z(),NULL));
list->push_back(GripData(GripperTypeRotateObject,py.X(),py.Y(),py.Z(),NULL));
list->push_back(GripData(GripperTypeRotateObject,pmx.X(),pmx.Y(),pmx.Z(),NULL));
}
Pte *
walkpgmap(Pml4e *pgmap, void *va, int alloc)
{
Pdpe *pdirpt;
Pde *pgdir;
Pte *pgtab;
pdirpt = pgmapget(pgmap, pmx(va), alloc);
if (pdirpt == nil)
return nil;
pgdir = pgmapget(pdirpt, pdpx(va), alloc);
if (pgdir == nil)
return nil;
pgtab = pgmapget(pgdir, pdx(va), alloc);
if (pgtab == nil)
return nil;
return &pgtab[ptx(va)];
}
