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Ran script to remove trailing spaces and tabs

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This commit is contained in:
Robert Osfield
2012-03-21 17:36:20 +00:00
parent 1e35f8975d
commit 14a563dc9f
1495 changed files with 21873 additions and 21873 deletions
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80
src/osg/Quat.cpp
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@@ -1,13 +1,13 @@
/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
*
* This library is open source and may be redistributed and/or modified under
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
* This library is open source and may be redistributed and/or modified under
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
* (at your option) any later version. The full license is in LICENSE file
* included with this distribution, and on the openscenegraph.org website.
*
*
* 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
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* OpenSceneGraph Public License for more details.
*/
#include <stdio.h>
@@ -81,16 +81,16 @@ void Quat::makeRotate( value_type angle, const Vec3d& vec )
}
void Quat::makeRotate ( value_type angle1, const Vec3f& axis1,
void Quat::makeRotate ( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3)
{
makeRotate(angle1,Vec3d(axis1),
angle2,Vec3d(axis2),
angle3,Vec3d(axis3));
}
}
void Quat::makeRotate ( value_type angle1, const Vec3d& axis1,
void Quat::makeRotate ( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3)
{
@@ -99,7 +99,7 @@ void Quat::makeRotate ( value_type angle1, const Vec3d& axis1,
Quat q3; q3.makeRotate(angle3,axis3);
*this = q1*q2*q3;
}
}
void Quat::makeRotate( const Vec3f& from, const Vec3f& to )
@@ -109,14 +109,14 @@ void Quat::makeRotate( const Vec3f& from, const Vec3f& to )
/** Make a rotation Quat which will rotate vec1 to vec2
This routine uses only fast geometric transforms, without costly acos/sin computations.
This routine uses only fast geometric transforms, without costly acos/sin computations.
It's exact, fast, and with less degenerate cases than the acos/sin method.
For an explanation of the math used, you may see for example:
For an explanation of the math used, you may see for example:
http://logiciels.cnes.fr/MARMOTTES/marmottes-mathematique.pdf
@note This is the rotation with shortest angle, which is the one equivalent to the
acos/sin transform method. Other rotations exists, for example to additionally keep
@note This is the rotation with shortest angle, which is the one equivalent to the
acos/sin transform method. Other rotations exists, for example to additionally keep
a local horizontal attitude.
@author Nicolas Brodu
@@ -124,7 +124,7 @@ a local horizontal attitude.
void Quat::makeRotate( const Vec3d& from, const Vec3d& to )
{
// This routine takes any vector as argument but normalized
// This routine takes any vector as argument but normalized
// vectors are necessary, if only for computing the dot product.
// Too bad the API is that generic, it leads to performance loss.
// Even in the case the 2 vectors are not normalized but same length,
@@ -133,7 +133,7 @@ void Quat::makeRotate( const Vec3d& from, const Vec3d& to )
// So, we have to test... in the hope of saving at least a sqrt
Vec3d sourceVector = from;
Vec3d targetVector = to;
value_type fromLen2 = from.length2();
value_type fromLen;
// normalize only when necessary, epsilon test
@@ -141,7 +141,7 @@ void Quat::makeRotate( const Vec3d& from, const Vec3d& to )
fromLen = sqrt(fromLen2);
sourceVector /= fromLen;
} else fromLen = 1.0;
value_type toLen2 = to.length2();
// normalize only when necessary, epsilon test
if ((toLen2 < 1.0-1e-7) || (toLen2 > 1.0+1e-7)) {
@@ -149,26 +149,26 @@ void Quat::makeRotate( const Vec3d& from, const Vec3d& to )
// re-use fromLen for case of mapping 2 vectors of the same length
if ((toLen2 > fromLen2-1e-7) && (toLen2 < fromLen2+1e-7)) {
toLen = fromLen;
}
}
else toLen = sqrt(toLen2);
targetVector /= toLen;
}
// Now let's get into the real stuff
// Use "dot product plus one" as test as it can be re-used later on
double dotProdPlus1 = 1.0 + sourceVector * targetVector;
// Check for degenerate case of full u-turn. Use epsilon for detection
if (dotProdPlus1 < 1e-7) {
// Get an orthogonal vector of the given vector
// in a plane with maximum vector coordinates.
// Then use it as quaternion axis with pi angle
// Trick is to realize one value at least is >0.6 for a normalized vector.
if (fabs(sourceVector.x()) < 0.6) {
const double norm = sqrt(1.0 - sourceVector.x() * sourceVector.x());
_v[0] = 0.0;
_v[0] = 0.0;
_v[1] = sourceVector.z() / norm;
_v[2] = -sourceVector.y() / norm;
_v[3] = 0.0;
@@ -186,7 +186,7 @@ void Quat::makeRotate( const Vec3d& from, const Vec3d& to )
_v[3] = 0.0;
}
}
else {
// Find the shortest angle quaternion that transforms normalized vectors
// into one other. Formula is still valid when vectors are colinear
@@ -211,14 +211,14 @@ void Quat::makeRotate_original( const Vec3d& from, const Vec3d& to )
value_type length1 = from.length();
value_type length2 = to.length();
// dot product vec1*vec2
value_type cosangle = from*to/(length1*length2);
if ( fabs(cosangle - 1) < epsilon )
{
OSG_INFO<<"*** Quat::makeRotate(from,to) with near co-linear vectors, epsilon= "<<fabs(cosangle-1)<<std::endl;
// cosangle is close to 1, so the vectors are close to being coincident
// Need to generate an angle of zero with any vector we like
// We'll choose (1,0,0)
@@ -235,13 +235,13 @@ void Quat::makeRotate_original( const Vec3d& from, const Vec3d& to )
else tmp.set(0.0,0.0,1.0);
else if (fabs(from.y())<fabs(from.z())) tmp.set(0.0,1.0,0.0);
else tmp.set(0.0,0.0,1.0);
Vec3d fromd(from.x(),from.y(),from.z());
// find orthogonal axis.
Vec3d axis(fromd^tmp);
axis.normalize();
_v[0] = axis[0]; // sin of half angle of PI is 1.0.
_v[1] = axis[1]; // sin of half angle of PI is 1.0.
_v[2] = axis[2]; // sin of half angle of PI is 1.0.
@@ -309,15 +309,15 @@ void Quat::slerp( value_type t, const Quat& from, const Quat& to )
{
const double epsilon = 0.00001;
double omega, cosomega, sinomega, scale_from, scale_to ;
osg::Quat quatTo(to);
// this is a dot product
cosomega = from.asVec4() * to.asVec4();
if ( cosomega <0.0 )
{
cosomega = -cosomega;
{
cosomega = -cosomega;
quatTo = -to;
}
@@ -341,7 +341,7 @@ void Quat::slerp( value_type t, const Quat& from, const Quat& to )
}
*this = (from*scale_from) + (quatTo*scale_to);
// so that we get a Vec4
}
@@ -357,32 +357,32 @@ void test_Quat_Eueler(value_type heading,value_type pitch,value_type roll)
{
osg::Quat q;
q.makeRotate(heading,pitch,roll);
osg::Matrix q_m;
q.get(q_m);
osg::Vec3 xAxis(1,0,0);
osg::Vec3 yAxis(0,1,0);
osg::Vec3 zAxis(0,0,1);
cout << "heading = "<<heading<<" pitch = "<<pitch<<" roll = "<<roll<<endl;
cout <<"q_m = "<<q_m;
cout <<"xAxis*q_m = "<<xAxis*q_m << endl;
cout <<"yAxis*q_m = "<<yAxis*q_m << endl;
cout <<"zAxis*q_m = "<<zAxis*q_m << endl;
osg::Matrix r_m = osg::Matrix::rotate(roll,0.0,1.0,0.0)*
osg::Matrix::rotate(pitch,1.0,0.0,0.0)*
osg::Matrix::rotate(-heading,0.0,0.0,1.0);
cout << "r_m = "<<r_m;
cout <<"xAxis*r_m = "<<xAxis*r_m << endl;
cout <<"yAxis*r_m = "<<yAxis*r_m << endl;
cout <<"zAxis*r_m = "<<zAxis*r_m << endl;
cout << endl<<"*****************************************" << endl<< endl;
}
void test_Quat()