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Encapsulate data in Info2Descr
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Properly encapsulate data in Info2Descr class to make it possible to
change the underlying data structure when needed. Additionally remove a
couple of unused and deprecated methods and fix a few bugs in joint
implementations.
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@ppiastucki
ppiastucki committed Jun 26, 2016
1 parent 93a9027 commit 256c824
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Showing 17 changed files with 271 additions and 417 deletions.
37 changes: 0 additions & 37 deletions core/src/main/java/org/ode4j/math/DVector3.java
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Expand Up @@ -502,43 +502,6 @@ public final DVector3C reAdd(DVector3C c) {
return new DVector3(this).add(c);
}


/**
* Writes the content of this vector into
* <tt>array</tt> at position <tt>pos</tt>.
* @param array
* @param pos
*/
public final void wrapSet(double[] array, int pos) {
array[pos] = get0();
array[pos + 1] = get1();
array[pos + 2] = get2();
}

/**
* Adds the content of this vector to the elements of
* <tt>array</tt> at position <tt>pos</tt>.
* @param array
* @param pos
*/
public final void wrapAdd(double[] array, int pos) {
array[pos] += get0();
array[pos + 1] += get1();
array[pos + 2] += get2();
}

/**
* Subtracts the content of this vector from the elements of
* <tt>array</tt> at position <tt>pos</tt>.
* @param array
* @param pos
*/
public final void wrapSub(double[] array, int pos) {
array[pos] -= get0();
array[pos + 1] -= get1();
array[pos + 2] -= get2();
}

/**
* Returns a new vector which equals (this)*d.
* @param d
Expand Down
95 changes: 0 additions & 95 deletions core/src/main/java/org/ode4j/ode/OdeMath.java
View file
Expand Up @@ -130,23 +130,6 @@ public static void dAddScaledVectors3(DVector3 res, DVector3C a, DVector3C b,
// res[1] = -res[1];
// res[2] = -res[2];
// }
public static void dNegateVector3(double[] a, int ofs) {
a[ofs+0] = -a[ofs+0];
a[ofs+1] = -a[ofs+1];
a[ofs+2] = -a[ofs+2];
}

public static void dCopyVector3(double[] a, int ofs, final DVector3C b) {
a[0+ofs] = b.get0();
a[1+ofs] = b.get1();
a[2+ofs] = b.get2();
// dReal res_0, res_1, res_2;
// res_0 = a[0];
// res_1 = a[1];
// res_2 = a[2];
// // Only assign after all the calculations are over to avoid incurring memory aliasing
// res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
public static void dCopyVector3(float[] a, int ofs, final DVector3C b) {
a[0+ofs] = (float) b.get0();
a[1+ofs] = (float) b.get1();
Expand All @@ -163,18 +146,6 @@ public static void dCopyVector3(float[] a, int ofs, final DVector3C b) {
// res[0] = res_0; res[1] = res_1; res[2] = res_2;
// }

public static void dCopyNegatedVector3(double[] a, int ofs, DVector3C b) {
a[0+ofs] = -b.get0();
a[1+ofs] = -b.get1();
a[2+ofs] = -b.get2();
// dReal res_0, res_1, res_2;
// res_0 = -a[0];
// res_1 = -a[1];
// res_2 = -a[2];
// // Only assign after all the calculations are over to avoid incurring memory aliasing
// res[0] = res_0; res[1] = res_1; res[2] = res_2;
}

// PURE_INLINE void dCopyVector4(dReal *res, const dReal *a)
// {
// dReal res_0, res_1, res_2, res_3;
Expand Down Expand Up @@ -576,16 +547,6 @@ public static void dSubtractVectorCross3(DVector3 a, DVector3C b, DVector3C c) {
// throw new UnsupportedOperationException(op.name());
// }
// }
public static void dCalcVectorCross3(double[] a, int ofs, DVector3C b, DVector3C c) {
a[0+ofs] = (b.get1()*c.get2() - b.get2()*c.get1());
a[1+ofs] = (b.get2()*c.get0() - b.get0()*c.get2());
a[2+ofs] = (b.get0()*c.get1() - b.get1()*c.get0());
}
public static void dCalcVectorCross3(double[] a, int ofs1, DVector3C b, double[] c, int ofs2) {
a[0+ofs1] = (b.get1()*c[2+ofs1] - b.get2()*c[1+ofs1]);
a[1+ofs1] = (b.get2()*c[0+ofs1] - b.get0()*c[2+ofs1]);
a[2+ofs1] = (b.get0()*c[1+ofs1] - b.get1()*c[0+ofs1]);
}
// public static void dSubtractVectorCross3(double[] a, int ofs, DVector3C b, DVector3C c) {
// a[0+ofs] = -(b.get1()*c.get2() - b.get2()*c.get1());
// a[1+ofs] = -(b.get2()*c.get0() - b.get0()*c.get2());
Expand Down Expand Up @@ -689,20 +650,6 @@ public static void dSetCrossMatrixPlus(double[] A, int ofs, DVector3C a, int ski
A[ofs+2*skip+0] = -a.get1();
A[ofs+2*skip+1] = +a.get0();
}
/**
* Set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
* A is stored by rows, and has `skip' elements per row. the matrix is
* assumed to be already zero, so this does not write zero elements!
* A negative version will be written.
*/
public static void dSetCrossMatrixMinus(double[] A, int ofs, DVector3C a, int skip) {
A[ofs+1] = +a.get2();
A[ofs+2] = -a.get1();
A[ofs+skip+0] = -a.get2();
A[ofs+skip+2] = +a.get0();
A[ofs+2*skip+0] = +a.get1();
A[ofs+2*skip+1] = -a.get0();
}

//#define dCROSSMAT(A,a,skip,plus,minus) \
//do { \
Expand All @@ -725,19 +672,6 @@ public static void dCROSSMAT(DMatrix3 A, DVector3C a, int skip, int plus, int mi
A.set20( minus * a.get1() );
A.set21( plus * a.get0() );
}
/**
* For +1/-1 use dSetCrossMatrixPlus(), for -1/+1 use dSetCrossMatrixMinus().
* @deprecated
*/
public static void dCROSSMAT(double[] A, int ofs, DVector3C a, int skip, int plus, int minus) {
A[ofs+1] = minus * a.get2();
A[ofs+2] = plus * a.get1();
A[ofs+skip+0] = plus * a.get2();
A[ofs+skip+2] = minus * a.get0();
A[ofs+2*skip+0] = minus * a.get1();
A[ofs+2*skip+1] = plus * a.get0();
}



//#ifdef __cplusplus
Expand Down Expand Up @@ -840,14 +774,6 @@ private static void dMULTIPLYOP1_331(DVector3 A, DMatrix3C B, DVector3C C) {
A.set1( B.dotCol(1, C) );
A.set2( B.dotCol(2, C) );
}
private static void dMULTIPLYOP1_331(double[] Aa, int aPos, DMatrix3C B, DVector3C C) {
// A.set0( dDOT41(B.v, 0, C) );
// A.set1( dDOT41(B.v, 1, C) );
// A.set2( dDOT41(B.v, 2, C) );
Aa[aPos + 0] = B.dotCol(0, C);
Aa[aPos + 1] = B.dotCol(1, C);
Aa[aPos + 2] = B.dotCol(2, C);
}
private static void dMULTIPLYOP0_133(DVector3 A, DVector3C B, DMatrix3C C) {
// A.set0( dDOT14(B, C.v,0) );
// A.set1( dDOT14(B, C.v,1) );
Expand Down Expand Up @@ -984,21 +910,9 @@ public static void dMULTIPLY0_331(DMatrix3 A, DMatrix3C B, DVector3C C) {
public static void dMULTIPLY0_331(DVector3 A, DMatrix3C B, double[] C, int c) {
dMultiply0_331(A, B, C, c);
}
@Deprecated
public static void dMULTIPLY0_331(double[] A, int a, double[] B, int b,
DVector3C C) {
dMultiply0_331(A, a, B, b, C);
}
@Deprecated
public static void dMULTIPLY0_331(double[] A, int a, double[] B, int b,
double[] C, int c) {
dMultiply0_331(A, a, B, b, C, c);
}

public static void dMultiply1_331(DVector3 A, DMatrix3C B, DVector3C C) {
dMULTIPLYOP1_331(A,B,C); }
public static void dMultiply1_331(double[] A, int a, DMatrix3C B, DVector3C C) {
dMULTIPLYOP1_331(A,a,B,C); }
public static void dMultiply0_133(DVector3 A, DVector3C B, DMatrix3C C) {
dMULTIPLYOP0_133(A,B,C); }
public static void dMultiply0_133(double[] A, int a, double[] B, int b,
Expand All @@ -1020,18 +934,9 @@ public static void dMULTIPLY0_133(DVector3 A, DVector3C B, DMatrix3C C) {
dMultiply0_133(A, B, C);
}
@Deprecated
public static void dMULTIPLY0_133(double[] A, int a, double[] B, int b,
double[] C, int c) {
dMultiply0_133(A, a, B, b, C, c);
}
@Deprecated
public static void dMULTIPLY0_333(DMatrix3 A, DMatrix3C B, DMatrix3C C) {
dMultiply0_333(A, B, C);
}
@Deprecated
public static void dMULTIPLY0_333(double[] A, int a, DMatrix3C B, DMatrix3C C) {
dMultiply0_333(A, a, B, C);
}

// public static void dMULTIPLY0_333(double[] A, int a, double[] B, int b,
// double[] C, int c) {
Expand Down

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