diff options
Diffstat (limited to 'indra/llcharacter/lljointsolverrp3.cpp')
| -rwxr-xr-x[-rw-r--r--] | indra/llcharacter/lljointsolverrp3.cpp | 110 |
1 files changed, 51 insertions, 59 deletions
diff --git a/indra/llcharacter/lljointsolverrp3.cpp b/indra/llcharacter/lljointsolverrp3.cpp index 6599a76b16..69a7e3dc6e 100644..100755 --- a/indra/llcharacter/lljointsolverrp3.cpp +++ b/indra/llcharacter/lljointsolverrp3.cpp @@ -2,31 +2,25 @@ * @file lljointsolverrp3.cpp * @brief Implementation of LLJointSolverRP3 class. * - * $LicenseInfo:firstyear=2001&license=viewergpl$ - * - * Copyright (c) 2001-2009, Linden Research, Inc. - * + * $LicenseInfo:firstyear=2001&license=viewerlgpl$ * Second Life Viewer Source Code - * The source code in this file ("Source Code") is provided by Linden Lab - * to you under the terms of the GNU General Public License, version 2.0 - * ("GPL"), unless you have obtained a separate licensing agreement - * ("Other License"), formally executed by you and Linden Lab. Terms of - * the GPL can be found in doc/GPL-license.txt in this distribution, or - * online at http://secondlifegrid.net/programs/open_source/licensing/gplv2 + * Copyright (C) 2010, Linden Research, Inc. * - * There are special exceptions to the terms and conditions of the GPL as - * it is applied to this Source Code. View the full text of the exception - * in the file doc/FLOSS-exception.txt in this software distribution, or - * online at - * http://secondlifegrid.net/programs/open_source/licensing/flossexception + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; + * version 2.1 of the License only. * - * By copying, modifying or distributing this software, you acknowledge - * that you have read and understood your obligations described above, - * and agree to abide by those obligations. + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. * - * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO - * WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY, - * COMPLETENESS OR PERFORMANCE. + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA * $/LicenseInfo$ */ @@ -141,8 +135,6 @@ void LLJointSolverRP3::setTwist( F32 twist ) //----------------------------------------------------------------------------- void LLJointSolverRP3::solve() { -// llinfos << llendl; -// llinfos << "LLJointSolverRP3::solve()" << llendl; //------------------------------------------------------------------------- // setup joints in their base rotations @@ -158,15 +150,15 @@ void LLJointSolverRP3::solve() 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; + LL_DEBUGS("JointSolver") << "LLJointSolverRP3::solve()" << LL_NEWLINE + << "bPosLocal = " << mJointB->getPosition() << LL_NEWLINE + << "cPosLocal = " << mJointC->getPosition() << LL_NEWLINE + << "bRotLocal = " << mJointB->getRotation() << LL_NEWLINE + << "cRotLocal = " << mJointC->getRotation() << LL_NEWLINE + << "aPos : " << aPos << LL_NEWLINE + << "bPos : " << bPos << LL_NEWLINE + << "cPos : " << cPos << LL_NEWLINE + << "gPos : " << gPos << LL_ENDL; //------------------------------------------------------------------------- // get the poleVector in world space @@ -190,11 +182,6 @@ void LLJointSolverRP3::solve() 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 //------------------------------------------------------------------------- @@ -202,16 +189,19 @@ void LLJointSolverRP3::solve() 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; + LL_DEBUGS("JointSolver") << "abVec : " << abVec << LL_NEWLINE + << "bcVec : " << bcVec << LL_NEWLINE + << "acVec : " << acVec << LL_NEWLINE + << "agVec : " << agVec << LL_NEWLINE + << "abLen : " << abLen << LL_NEWLINE + << "bcLen : " << bcLen << LL_NEWLINE + << "agLen : " << agLen << LL_NEWLINE + << "abacCompOrthoVec : " << abacCompOrthoVec << LL_ENDL; //------------------------------------------------------------------------- // compute the normal of the original ABC plane (and store for later) @@ -279,13 +269,17 @@ void LLJointSolverRP3::solve() 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; + LL_DEBUGS("JointSolver") << "abbcAng : " << abbcAng << LL_NEWLINE + << "abbcOrthoVec : " << abbcOrthoVec << LL_NEWLINE + << "agLenSq : " << agLenSq << LL_NEWLINE + << "cosTheta : " << cosTheta << LL_NEWLINE + << "theta : " << theta << LL_NEWLINE + << "bRot : " << bRot << LL_NEWLINE + << "theta abbcAng theta-abbcAng: " + << theta*180.0/F_PI << " " + << abbcAng*180.0f/F_PI << " " + << (theta - abbcAng)*180.0f/F_PI + << LL_ENDL; //------------------------------------------------------------------------- // compute rotation that rotates new A->C to A->G @@ -299,9 +293,9 @@ void LLJointSolverRP3::solve() LLQuaternion cgRot; cgRot.shortestArc( acVec, agVec ); -// llinfos << "bcVec : " << bcVec << llendl; -// llinfos << "acVec : " << acVec << llendl; -// llinfos << "cgRot : " << cgRot << llendl; + LL_DEBUGS("JointSolver") << "bcVec : " << bcVec << LL_NEWLINE + << "acVec : " << acVec << LL_NEWLINE + << "cgRot : " << cgRot << LL_ENDL; // update A->B and B->C with rotation from C to G abVec = abVec * cgRot; @@ -359,18 +353,16 @@ void LLJointSolverRP3::solve() 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; + 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; //------------------------------------------------------------------------- // compute rotation of A |