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| author | Euclid Linden <euclid@lindenlab.com> | 2022-05-27 21:15:49 +0000 |
|---|---|---|
| committer | Euclid Linden <euclid@lindenlab.com> | 2022-05-27 21:15:49 +0000 |
| commit | 3f98411c56f4daa06c9102346a8dd37af18d2cb6 (patch) | |
| tree | 4255c2827cc3e07921275bfd7937f4f43f29d5fa /indra/llcharacter/lljointsolverrp3.cpp | |
| parent | 3f58ec2fdfb76ce2160884a3e97be49f60b6ac90 (diff) | |
| parent | 02c71b0ac2f99dd1c26a649ffce2182b2fc9a7d9 (diff) | |
Merged in DV528-merge-6.6.1 (pull request #1000)
DRTVWR-528 merge up to 6.6.1
Diffstat (limited to 'indra/llcharacter/lljointsolverrp3.cpp')
| -rw-r--r-- | indra/llcharacter/lljointsolverrp3.cpp | 17 |
1 files changed, 16 insertions, 1 deletions
diff --git a/indra/llcharacter/lljointsolverrp3.cpp b/indra/llcharacter/lljointsolverrp3.cpp index 69a7e3dc6e..f3d5e2e324 100644 --- a/indra/llcharacter/lljointsolverrp3.cpp +++ b/indra/llcharacter/lljointsolverrp3.cpp @@ -1,6 +1,6 @@ /** * @file lljointsolverrp3.cpp - * @brief Implementation of LLJointSolverRP3 class. + * @brief Implementation of Joint Solver in 3D Real Projective space (RP3). See: https://en.wikipedia.org/wiki/Real_projective_space * * $LicenseInfo:firstyear=2001&license=viewerlgpl$ * Second Life Viewer Source Code @@ -35,6 +35,11 @@ #define F_EPSILON 0.00001f +#if LL_RELEASE + #define DEBUG_JOINT_SOLVER 0 +#else + #define DEBUG_JOINT_SOLVER 1 +#endif //----------------------------------------------------------------------------- // Constructor @@ -150,6 +155,7 @@ void LLJointSolverRP3::solve() LLVector3 cPos = mJointC->getWorldPosition(); LLVector3 gPos = mJointGoal->getWorldPosition(); +#if DEBUG_JOINT_SOLVER LL_DEBUGS("JointSolver") << "LLJointSolverRP3::solve()" << LL_NEWLINE << "bPosLocal = " << mJointB->getPosition() << LL_NEWLINE << "cPosLocal = " << mJointC->getPosition() << LL_NEWLINE @@ -159,6 +165,7 @@ void LLJointSolverRP3::solve() << "bPos : " << bPos << LL_NEWLINE << "cPos : " << cPos << LL_NEWLINE << "gPos : " << gPos << LL_ENDL; +#endif //------------------------------------------------------------------------- // get the poleVector in world space @@ -194,6 +201,7 @@ void LLJointSolverRP3::solve() //------------------------------------------------------------------------- LLVector3 abacCompOrthoVec = abVec - acVec * ((abVec * acVec)/(acVec * acVec)); +#if DEBUG_JOINT_SOLVER LL_DEBUGS("JointSolver") << "abVec : " << abVec << LL_NEWLINE << "bcVec : " << bcVec << LL_NEWLINE << "acVec : " << acVec << LL_NEWLINE @@ -202,6 +210,7 @@ void LLJointSolverRP3::solve() << "bcLen : " << bcLen << LL_NEWLINE << "agLen : " << agLen << LL_NEWLINE << "abacCompOrthoVec : " << abacCompOrthoVec << LL_ENDL; +#endif //------------------------------------------------------------------------- // compute the normal of the original ABC plane (and store for later) @@ -269,6 +278,7 @@ void LLJointSolverRP3::solve() LLQuaternion bRot(theta - abbcAng, abbcOrthoVec); +#if DEBUG_JOINT_SOLVER LL_DEBUGS("JointSolver") << "abbcAng : " << abbcAng << LL_NEWLINE << "abbcOrthoVec : " << abbcOrthoVec << LL_NEWLINE << "agLenSq : " << agLenSq << LL_NEWLINE @@ -280,6 +290,7 @@ void LLJointSolverRP3::solve() << abbcAng*180.0f/F_PI << " " << (theta - abbcAng)*180.0f/F_PI << LL_ENDL; +#endif //------------------------------------------------------------------------- // compute rotation that rotates new A->C to A->G @@ -293,9 +304,11 @@ void LLJointSolverRP3::solve() LLQuaternion cgRot; cgRot.shortestArc( acVec, agVec ); +#if DEBUG_JOINT_SOLVER LL_DEBUGS("JointSolver") << "bcVec : " << bcVec << LL_NEWLINE << "acVec : " << acVec << LL_NEWLINE << "cgRot : " << cgRot << LL_ENDL; +#endif // update A->B and B->C with rotation from C to G abVec = abVec * cgRot; @@ -358,11 +371,13 @@ void LLJointSolverRP3::solve() //------------------------------------------------------------------------- LLQuaternion twistRot( mTwist, agVec ); +#if DEBUG_JOINT_SOLVER LL_DEBUGS("JointSolver") << "abcNorm = " << abcNorm << LL_NEWLINE << "apgNorm = " << apgNorm << LL_NEWLINE << "pRot = " << pRot << LL_NEWLINE << "twist : " << mTwist*180.0/F_PI << LL_NEWLINE << "twistRot : " << twistRot << LL_ENDL; +#endif //------------------------------------------------------------------------- // compute rotation of A |