[brlcad-commits] SF.net SVN: brlcad:[36539] brlcad/trunk/src/tab/tabinterp.c
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[brlcad-commits] SF.net SVN: brlcad:[36539] brlcad/trunk/src/tab/tabinterp.c
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From: <br...@us...> - 2009-11-18 20:20:33
|
Revision: 36539
http://brlcad.svn.sourceforge.net/brlcad/?rev=36539&view=rev
Author: brlcad
Date: 2009-11-18 20:20:26 +0000 (Wed, 18 Nov 2009)
Log Message:
-----------
restructure so forward declarations are not needed
Modified Paths:
--------------
brlcad/trunk/src/tab/tabinterp.c
Modified: brlcad/trunk/src/tab/tabinterp.c
===================================================================
--- brlcad/trunk/src/tab/tabinterp.c 2009-11-18 20:10:10 UTC (rev 36538)
+++ brlcad/trunk/src/tab/tabinterp.c 2009-11-18 20:20:26 UTC (rev 36539)
@@ -84,112 +84,81 @@
int max_chans; /* current size of chan[] array */
struct chan *chan; /* ptr to array of chan structs */
-extern int cm_file();
-extern int cm_times();
-extern int cm_interp();
-extern int cm_idump();
-extern int cm_rate();
-extern int cm_accel();
-extern int cm_next();
-extern int cm_help();
-void linear_interpolate();
-void rate_interpolate();
-void accel_interpolate();
-void go();
-void output();
-void pr_ichan();
-void next_interpolate();
-void step_interpolate();
-void quat_interpolate();
-int get_args(int argc, char **argv);
-int create_chan(char *num, int len, char *itag);
-int chan_not_loaded_or_specified(int ch);
-int spline(struct chan *chp, fastf_t *times);
-
-
-struct command_tab cmdtab[] = {
- {"file", "filename chan_num(s)", "load channels from file",
- cm_file, 3, 999},
- {"times", "start stop fps", "specify time range and fps rate",
- cm_times, 4, 4},
- {"interp", "{step|linear|spline|cspline|quat} chan_num(s)", "set interpolation type",
- cm_interp, 3, 999},
- {"next", "dest_chan src_chan [+/- #nsamp]", "lookahead in time",
- cm_next, 3, 4},
- {"idump", "[chan_num(s)]", "dump input channel values",
- cm_idump, 1, 999},
- {"rate", "chan_num init_value incr_per_sec [comment]", "create rate based channel",
- cm_rate, 4, 5},
- {"accel", "chan_num init_value mult_per_sec [comment]", "create acceleration based channel",
- cm_accel, 4, 5},
- {"help", "", "print help message",
- cm_help, 1, 999},
- {(char *)0, (char *)0, (char *)0,
- 0, 0, 0} /* END */
-};
-
-
/*
- * M A I N
+ * Returns -
+ * -1 on error
+ * 0 if data loaded, and interpolator not yet set.
+ * 1 if no data, or interpolator already set (message printed)
*/
-int
-main(int argc, char **argv)
+HIDDEN int
+chan_not_loaded_or_specified(int ch)
{
- register char *buf;
- register int ret;
-
- get_args(argc, argv);
- /*
- * All the work happens in the functions called by rt_do_cmd().
- * NOTE that the value of MAXWORDS in rt_do_cmd() limits the
- * maximum number of columns that a 'file' command can list.
- */
- while ((buf = rt_read_cmd(stdin)) != (char *)0) {
- if (verbose) bu_log("cmd: %s\n", buf);
- ret = rt_do_cmd(0, buf, cmdtab);
- bu_free(buf, "cmd buf");
- if (ret < 0) {
- if (verbose) bu_log("aborting\n");
- bu_exit(1, NULL);
- }
+ if (ch < 0 || ch >= nchans) return -1;
+ if (chan[ch].c_ilen <= 0) {
+ bu_log("error: attempt to set interpolation type on unallocated channel %d\n", ch);
+ return 1;
}
-
- if (verbose) bu_log("performing interpolations\n");
- go();
-
- if (verbose) bu_log("writing output\n");
- output();
-
- bu_exit(0, NULL);
+ if (chan[ch].c_interp > 0) {
+ bu_log("error: attempt to modify channel %d which already has interpolation type set\n", ch);
+ return 1;
+ }
+ return 0;
}
+
/*
- * XXX this really should go in librt/cmd.c as rt_help_cmd().
+ * C R E A T E _ C H A N
*/
-int
-cm_help(int argc, char **argv)
+HIDDEN int
+create_chan(char *num, int len, char *itag)
{
- register struct command_tab *ctp;
+ int n;
- if (argc <= 1)
- {
- bu_log("The following commands are available:\n\n");
- for (ctp = cmdtab; ctp->ct_cmd != (char *)0; ctp++) {
- bu_log("%s %s\n\t%s\n",
- ctp->ct_cmd, ctp->ct_parms,
- ctp->ct_comment);
+ n = atoi(num);
+ if (n < 0) return(-1);
+
+ if (n >= max_chans) {
+ int prev = max_chans;
+
+ if (max_chans <= 0) {
+ max_chans = 32;
+ chan = (struct chan *)bu_calloc(1,
+ max_chans * sizeof(struct chan),
+ "chan[]");
+ } else {
+ while (n >= max_chans)
+ max_chans *= 2;
+ if (verbose) bu_log("reallocating from %d to %d chans\n",
+ prev, max_chans);
+ chan = (struct chan *)bu_realloc((char *)chan,
+ max_chans * sizeof(struct chan),
+ "chan[]");
+ memset((char *)(&chan[prev]), 0, (max_chans-prev)*sizeof(struct chan));
}
- return 0;
}
- bu_log("Detailed help is not yet available.\n");
- return -1;
+ /* Allocate and clear channels */
+ while (nchans <= n) {
+ if (chan[nchans].c_ilen > 0) {
+ bu_log("create_chan: internal error\n");
+ return -1;
+ } else {
+ memset((char *)&chan[nchans++], 0, sizeof(struct chan));
+ }
+ }
+
+ if (verbose) bu_log("chan %d: %s\n", n, itag);
+ chan[n].c_ilen = len;
+ chan[n].c_itag = bu_strdup(itag);
+ chan[n].c_ival = (fastf_t *)bu_malloc(len * sizeof(fastf_t), "c_ival");
+ return(n);
}
+
/*
* C M _ F I L E
*/
-int
+HIDDEN int
cm_file(int argc, char **argv)
{
FILE *fp;
@@ -315,59 +284,38 @@
return(0);
}
+
/*
- * C R E A T E _ C H A N
+ * P R _ I C H A N S
+ *
+ * Print input channel values.
*/
-int
-create_chan(char *num, int len, char *itag)
+HIDDEN void
+pr_ichan(int ch)
{
- int n;
+ register struct chan *cp;
+ register int i;
- n = atoi(num);
- if (n < 0) return(-1);
-
- if (n >= max_chans) {
- int prev = max_chans;
-
- if (max_chans <= 0) {
- max_chans = 32;
- chan = (struct chan *)bu_calloc(1,
- max_chans * sizeof(struct chan),
- "chan[]");
- } else {
- while (n >= max_chans)
- max_chans *= 2;
- if (verbose) bu_log("reallocating from %d to %d chans\n",
- prev, max_chans);
- chan = (struct chan *)bu_realloc((char *)chan,
- max_chans * sizeof(struct chan),
- "chan[]");
- memset((char *)(&chan[prev]), 0, (max_chans-prev)*sizeof(struct chan));
- }
+ if (ch < 0 || ch >= nchans) {
+ bu_log("pr_ichan(%d) out of range\n", ch);
+ return;
}
- /* Allocate and clear channels */
- while (nchans <= n) {
- if (chan[nchans].c_ilen > 0) {
- bu_log("create_chan: internal error\n");
- return -1;
- } else {
- memset((char *)&chan[nchans++], 0, sizeof(struct chan));
- }
+ cp = &chan[ch];
+ if (cp->c_itag == (char *)0) cp->c_itag = "_no_file_";
+ bu_log("--- Channel %d, ilen=%d (%s):\n",
+ ch, cp->c_ilen, cp->c_itag);
+ for (i=0; i < cp->c_ilen; i++) {
+ bu_log(" %g\t%g\n", cp->c_itime[i], cp->c_ival[i]);
}
-
- if (verbose) bu_log("chan %d: %s\n", n, itag);
- chan[n].c_ilen = len;
- chan[n].c_itag = bu_strdup(itag);
- chan[n].c_ival = (fastf_t *)bu_malloc(len * sizeof(fastf_t), "c_ival");
- return(n);
}
+
/*
* C M _ I D U M P
*
* Dump the indicated input channels, or all, if none specified.
*/
-int
+HIDDEN int
cm_idump(int argc, char **argv)
{
register int ch;
@@ -385,34 +333,11 @@
return(0);
}
-/*
- * P R _ I C H A N S
- *
- * Print input channel values.
- */
-void
-pr_ichan(int ch)
-{
- register struct chan *cp;
- register int i;
- if (ch < 0 || ch >= nchans) {
- bu_log("pr_ichan(%d) out of range\n", ch);
- return;
- }
- cp = &chan[ch];
- if (cp->c_itag == (char *)0) cp->c_itag = "_no_file_";
- bu_log("--- Channel %d, ilen=%d (%s):\n",
- ch, cp->c_ilen, cp->c_itag);
- for (i=0; i < cp->c_ilen; i++) {
- bu_log(" %g\t%g\n", cp->c_itime[i], cp->c_ival[i]);
- }
-}
-
/*
* O U T P U T
*/
-void
+HIDDEN void
output()
{
register int ch;
@@ -439,10 +364,11 @@
}
}
+
/*
* C M _ T I M E S
*/
-int
+HIDDEN int
cm_times(int argc, char **argv)
{
double a, b;
@@ -474,10 +400,11 @@
return(0);
}
+
/*
* C M _ I N T E R P
*/
-int
+HIDDEN int
cm_interp(int argc, char **argv)
{
int interp = 0;
@@ -534,116 +461,9 @@
/*
- * G O
- *
- * Perform the requested interpolation on each channel
- */
-void
-go()
-{
- int ch;
- struct chan *chp;
- fastf_t *times;
- register int t;
-
- if (!o_time) {
- bu_log("times command not given\n");
- return;
- }
-
- times = (fastf_t *)bu_malloc(o_len*sizeof(fastf_t), "periodic times");
-
- /* First, get memory for all output channels */
- for (ch=0; ch < nchans; ch++) {
- chp = &chan[ch];
- if (chp->c_ilen <= 0)
- continue;
-
- /* Allocate memory for all the output values */
- chan[ch].c_oval = (fastf_t *)bu_malloc(
- o_len * sizeof(fastf_t), "c_oval[]");
- }
-
- /* Interpolate values for all "interp" channels */
- for (ch=0; ch < nchans; ch++) {
- chp = &chan[ch];
- if (chp->c_ilen <= 0)
- continue;
- if (chp->c_interp == INTERP_NEXT) continue;
-
- /* As a service to interpolators, if this is a periodic
- * interpolation, build the mapped time array.
- */
- if (chp->c_periodic) {
- for (t=0; t < o_len; t++) {
- register double cur_t;
-
- cur_t = o_time[t];
-
- while (cur_t > chp->c_itime[chp->c_ilen-1]) {
- cur_t -= (chp->c_itime[chp->c_ilen-1] -
- chp->c_itime[0]);
- }
- while (cur_t < chp->c_itime[0]) {
- cur_t += (chp->c_itime[chp->c_ilen-1] -
- chp->c_itime[0]);
- }
- times[t] = cur_t;
- }
- } else {
- for (t=0; t < o_len; t++) {
- times[t] = o_time[t];
- }
- }
- again:
- switch (chp->c_interp) {
- default:
- bu_log("channel %d: unknown interpolation type %d\n", ch, chp->c_interp);
- break;
- case INTERP_LINEAR:
- linear_interpolate(chp, times);
- break;
- case INTERP_STEP:
- step_interpolate(chp, times);
- break;
- case INTERP_SPLINE:
- if (spline(chp, times) <= 0) {
- bu_log("spline failure, switching to linear\n");
- chp->c_interp = INTERP_LINEAR;
- goto again;
- }
- break;
- case INTERP_RATE:
- rate_interpolate(chp, times);
- break;
- case INTERP_ACCEL:
- accel_interpolate(chp, times);
- break;
- case INTERP_QUAT:
- quat_interpolate(chp, &chan[ch+1], &chan[ch+2], &chan[ch+3], times);
- break;
- case INTERP_QUAT2:
- /* Don't touch these here, handled above */
- continue;
- }
- }
-
- /* Copy out values for all "next" channels */
- for (ch=0; ch < nchans; ch++) {
- chp = &chan[ch];
- if (chp->c_ilen <= 0)
- continue;
- if (chp->c_interp != INTERP_NEXT) continue;
- next_interpolate(chp);
- }
-
- bu_free((char *)times, "loc times");
-}
-
-/*
* N E X T _ I N T E R P O L A T E
*/
-void
+HIDDEN void
next_interpolate(struct chan *chp)
{
register int t; /* output time index */
@@ -666,6 +486,7 @@
}
}
+
/*
* S T E P _ I N T E R P O L A T E
*
@@ -676,7 +497,7 @@
* This routine takes advantage of (and depends on) the fact that the
* input and output is sorted in increasing time values.
*/
-void
+HIDDEN void
step_interpolate(struct chan *chp, fastf_t *times)
{
register int t; /* output time index */
@@ -715,7 +536,7 @@
* This routine takes advantage of (and depends on) the fact that the
* input and output arrays are sorted in increasing time values.
*/
-void
+HIDDEN void
linear_interpolate(struct chan *chp, fastf_t *times)
{
register int t; /* output time index */
@@ -763,7 +584,7 @@
* unspecified units per second. This is really just a hack to allow
* multiplying the time by a constant.
*/
-void
+HIDDEN void
rate_interpolate(struct chan *chp, fastf_t *times)
{
register int t; /* output time index */
@@ -786,7 +607,7 @@
* A C C E L _ I N T E R P O L A T E
*
*/
-void
+HIDDEN void
accel_interpolate(struct chan *chp, fastf_t *times)
{
register int t; /* output time index */
@@ -809,7 +630,145 @@
}
}
+
/*
+ * Q U A T _ I N T E R P O L A T E
+ *
+ * Do linear interpolation for first and last span. Use Bezier
+ * interpolation for all the rest.
+ *
+ * This routine depends on the four input channels having identical
+ * time stamps, because only the "x" input times are used.
+ */
+HIDDEN void
+quat_interpolate(struct chan *x, struct chan *y, struct chan *z, struct chan *w, fastf_t *times)
+{
+ register int t; /* output time index */
+ register int i; /* input time index */
+
+#define QIGET(_q, _it) QSET((_q), x->c_ival[(_it)], y->c_ival[(_it)], z->c_ival[(_it)], w->c_ival[(_it)]);
+#define QPUT(_q) { x->c_oval[t] = (_q)[X]; y->c_oval[t] = (_q)[Y]; \
+ z->c_oval[t] = (_q)[Z]; w->c_oval[t] = (_q)[W]; }
+
+ i = 0;
+ for (t=0; t<o_len; t++) {
+ register fastf_t now = times[t];
+
+ /* Check for below initial time */
+ if (now <= x->c_itime[0]) {
+ quat_t q1;
+
+ QIGET(q1, 0);
+ QUNITIZE(q1);
+ QPUT(q1);
+ continue;
+ }
+
+ /* Find time range in input data. */
+ while (i < x->c_ilen-1) {
+ if (now >= x->c_itime[i] &&
+ now < x->c_itime[i+1])
+ break;
+ i++;
+ }
+
+ /* Check for above final time */
+ if (i >= x->c_ilen-1) {
+ quat_t q1;
+
+ i = x->c_ilen-1;
+ QIGET(q1, i);
+ QUNITIZE(q1);
+ QPUT(q1);
+ continue;
+ }
+
+ /* Check for being in first or last time span */
+ if (i == 0 || i >= x->c_ilen-2)
+ {
+ fastf_t f;
+ quat_t qout, q1, q2, q3, qtemp1, qtemp2, qtemp3;
+
+ f = (now - x->c_itime[i]) /
+ (x->c_itime[i+1] - x->c_itime[i]);
+
+ if (i==0)
+ {
+ QIGET(q1, i);
+ QIGET(q2, i+1);
+ QIGET(q3, i+2);
+ QUNITIZE(q1);
+ QUNITIZE(q2);
+ QUNITIZE(q3);
+ quat_make_nearest(q2, q1);
+ quat_make_nearest(q3, q2);
+ }
+ else
+ {
+ QIGET(q1, i+1);
+ QIGET(q2, i);
+ QIGET(q3, i-1);
+ f = 1.0 - f;
+ QUNITIZE(q1);
+ QUNITIZE(q2);
+ QUNITIZE(q3);
+ quat_make_nearest(q2, q3);
+ quat_make_nearest(q1, q2);
+ }
+
+ /* find middle control point */
+ quat_slerp(qtemp1, q3, q2, 2.0);
+ quat_slerp(qtemp2, qtemp1, q1, 0.5);
+ quat_slerp(qtemp3, q2, qtemp2, 0.33333);
+
+ /* do 3-point bezier interpolation */
+ quat_slerp(qtemp1, q1, qtemp3, f);
+ quat_slerp(qtemp2, qtemp3, q2, f);
+ quat_slerp(qout, qtemp1, qtemp2, f);
+
+ QPUT(qout);
+ continue;
+ }
+
+ /* In an intermediate time span */
+ {
+ fastf_t f;
+ quat_t qout, q1, q2, q3, q4, qa, qb, qtemp1, qtemp2;
+
+ f = (now - x->c_itime[i]) /
+ (x->c_itime[i+1] - x->c_itime[i]);
+
+ QIGET(q1, i-1);
+ QIGET(q2, i);
+ QIGET(q3, i+1);
+ QIGET(q4, i+2);
+
+ QUNITIZE(q1);
+ QUNITIZE(q2);
+ QUNITIZE(q3);
+ QUNITIZE(q4);
+ quat_make_nearest(q2, q1);
+ quat_make_nearest(q3, q2);
+ quat_make_nearest(q4, q3);
+
+ /* find two middle control points */
+ quat_slerp(qtemp1, q1, q2, 2.0);
+ quat_slerp(qtemp2, qtemp1, q3, 0.5);
+ quat_slerp(qa, q2, qtemp2, 0.333333);
+
+ quat_slerp(qtemp1, q4, q3, 2.0);
+ quat_slerp(qtemp2, qtemp1, q2, 0.5);
+ quat_slerp(qb, q3, qtemp2, 0.333333);
+
+ quat_sberp(qout, q2, qa, qb, q3, f);
+ QPUT(qout);
+ }
+
+ }
+}
+
+
+/*
* S P L I N E
*
* Fit an interpolating spline to the data points given. Time in the
@@ -820,7 +779,7 @@
* 0 bad
* 1 OK
*/
-int
+HIDDEN int
spline(register struct chan *chp, fastf_t *times)
{
double d, s;
@@ -967,14 +926,123 @@
return(0);
}
+
/*
+ * G O
+ *
+ * Perform the requested interpolation on each channel
+ */
+HIDDEN void
+go()
+{
+ int ch;
+ struct chan *chp;
+ fastf_t *times;
+ register int t;
+
+ if (!o_time) {
+ bu_log("times command not given\n");
+ return;
+ }
+
+ times = (fastf_t *)bu_malloc(o_len*sizeof(fastf_t), "periodic times");
+
+ /* First, get memory for all output channels */
+ for (ch=0; ch < nchans; ch++) {
+ chp = &chan[ch];
+ if (chp->c_ilen <= 0)
+ continue;
+
+ /* Allocate memory for all the output values */
+ chan[ch].c_oval = (fastf_t *)bu_malloc(
+ o_len * sizeof(fastf_t), "c_oval[]");
+ }
+
+ /* Interpolate values for all "interp" channels */
+ for (ch=0; ch < nchans; ch++) {
+ chp = &chan[ch];
+ if (chp->c_ilen <= 0)
+ continue;
+ if (chp->c_interp == INTERP_NEXT) continue;
+
+ /* As a service to interpolators, if this is a periodic
+ * interpolation, build the mapped time array.
+ */
+ if (chp->c_periodic) {
+ for (t=0; t < o_len; t++) {
+ register double cur_t;
+
+ cur_t = o_time[t];
+
+ while (cur_t > chp->c_itime[chp->c_ilen-1]) {
+ cur_t -= (chp->c_itime[chp->c_ilen-1] -
+ chp->c_itime[0]);
+ }
+ while (cur_t < chp->c_itime[0]) {
+ cur_t += (chp->c_itime[chp->c_ilen-1] -
+ chp->c_itime[0]);
+ }
+ times[t] = cur_t;
+ }
+ } else {
+ for (t=0; t < o_len; t++) {
+ times[t] = o_time[t];
+ }
+ }
+ again:
+ switch (chp->c_interp) {
+ default:
+ bu_log("channel %d: unknown interpolation type %d\n", ch, chp->c_interp);
+ break;
+ case INTERP_LINEAR:
+ linear_interpolate(chp, times);
+ break;
+ case INTERP_STEP:
+ step_interpolate(chp, times);
+ break;
+ case INTERP_SPLINE:
+ if (spline(chp, times) <= 0) {
+ bu_log("spline failure, switching to linear\n");
+ chp->c_interp = INTERP_LINEAR;
+ goto again;
+ }
+ break;
+ case INTERP_RATE:
+ rate_interpolate(chp, times);
+ break;
+ case INTERP_ACCEL:
+ accel_interpolate(chp, times);
+ break;
+ case INTERP_QUAT:
+ quat_interpolate(chp, &chan[ch+1], &chan[ch+2], &chan[ch+3], times);
+ break;
+ case INTERP_QUAT2:
+ /* Don't touch these here, handled above */
+ continue;
+ }
+ }
+
+ /* Copy out values for all "next" channels */
+ for (ch=0; ch < nchans; ch++) {
+ chp = &chan[ch];
+ if (chp->c_ilen <= 0)
+ continue;
+ if (chp->c_interp != INTERP_NEXT) continue;
+ next_interpolate(chp);
+ }
+
+ bu_free((char *)times, "loc times");
+}
+
+
+/*
* C M _ R A T E
*
* Just to communiate with the "interpolator", use two input values.
* First is initial value, second is change PER SECOND. Input time
* values are meaningless.
*/
-int
+HIDDEN int
cm_rate(int argc, char **argv)
{
register struct chan *chp;
@@ -992,6 +1060,7 @@
return(0);
}
+
/*
* C M _ A C C E L
*
@@ -999,7 +1068,7 @@
* First is initial value, second is change PER SECOND. Input time
* values are meaningless.
*/
-int
+HIDDEN int
cm_accel(int argc, char **argv)
{
register struct chan *chp;
@@ -1017,143 +1086,8 @@
return(0);
}
-/*
- * Q U A T _ I N T E R P O L A T E
- *
- * Do linear interpolation for first and last span. Use Bezier
- * interpolation for all the rest.
- *
- * This routine depends on the four input channels having identical
- * time stamps, because only the "x" input times are used.
- */
-void
-quat_interpolate(struct chan *x, struct chan *y, struct chan *z, struct chan *w, fastf_t *times)
-{
- register int t; /* output time index */
- register int i; /* input time index */
-#define QIGET(_q, _it) QSET((_q), x->c_ival[(_it)], y->c_ival[(_it)], z->c_ival[(_it)], w->c_ival[(_it)]);
-#define QPUT(_q) { x->c_oval[t] = (_q)[X]; y->c_oval[t] = (_q)[Y]; \
- z->c_oval[t] = (_q)[Z]; w->c_oval[t] = (_q)[W]; }
-
- i = 0;
- for (t=0; t<o_len; t++) {
- register fastf_t now = times[t];
-
- /* Check for below initial time */
- if (now <= x->c_itime[0]) {
- quat_t q1;
-
- QIGET(q1, 0);
- QUNITIZE(q1);
- QPUT(q1);
- continue;
- }
-
- /* Find time range in input data. */
- while (i < x->c_ilen-1) {
- if (now >= x->c_itime[i] &&
- now < x->c_itime[i+1])
- break;
- i++;
- }
-
- /* Check for above final time */
- if (i >= x->c_ilen-1) {
- quat_t q1;
-
- i = x->c_ilen-1;
- QIGET(q1, i);
- QUNITIZE(q1);
- QPUT(q1);
- continue;
- }
-
- /* Check for being in first or last time span */
- if (i == 0 || i >= x->c_ilen-2)
- {
- fastf_t f;
- quat_t qout, q1, q2, q3, qtemp1, qtemp2, qtemp3;
-
- f = (now - x->c_itime[i]) /
- (x->c_itime[i+1] - x->c_itime[i]);
-
- if (i==0)
- {
- QIGET(q1, i);
- QIGET(q2, i+1);
- QIGET(q3, i+2);
- QUNITIZE(q1);
- QUNITIZE(q2);
- QUNITIZE(q3);
- quat_make_nearest(q2, q1);
- quat_make_nearest(q3, q2);
- }
- else
- {
- QIGET(q1, i+1);
- QIGET(q2, i);
- QIGET(q3, i-1);
- f = 1.0 - f;
- QUNITIZE(q1);
- QUNITIZE(q2);
- QUNITIZE(q3);
- quat_make_nearest(q2, q3);
- quat_make_nearest(q1, q2);
- }
-
- /* find middle control point */
- quat_slerp(qtemp1, q3, q2, 2.0);
- quat_slerp(qtemp2, qtemp1, q1, 0.5);
- quat_slerp(qtemp3, q2, qtemp2, 0.33333);
-
- /* do 3-point bezier interpolation */
- quat_slerp(qtemp1, q1, qtemp3, f);
- quat_slerp(qtemp2, qtemp3, q2, f);
- quat_slerp(qout, qtemp1, qtemp2, f);
-
- QPUT(qout);
- continue;
- }
-
- /* In an intermediate time span */
- {
- fastf_t f;
- quat_t qout, q1, q2, q3, q4, qa, qb, qtemp1, qtemp2;
-
- f = (now - x->c_itime[i]) /
- (x->c_itime[i+1] - x->c_itime[i]);
-
- QIGET(q1, i-1);
- QIGET(q2, i);
- QIGET(q3, i+1);
- QIGET(q4, i+2);
-
- QUNITIZE(q1);
- QUNITIZE(q2);
- QUNITIZE(q3);
- QUNITIZE(q4);
- quat_make_nearest(q2, q1);
- quat_make_nearest(q3, q2);
- quat_make_nearest(q4, q3);
-
- /* find two middle control points */
- quat_slerp(qtemp1, q1, q2, 2.0);
- quat_slerp(qtemp2, qtemp1, q3, 0.5);
- quat_slerp(qa, q2, qtemp2, 0.333333);
-
- quat_slerp(qtemp1, q4, q3, 2.0);
- quat_slerp(qtemp2, qtemp1, q2, 0.5);
- quat_slerp(qb, q3, qtemp2, 0.333333);
-
- quat_sberp(qout, q2, qa, qb, q3, f);
- QPUT(qout);
- }
-
- }
-}
-
-int
+HIDDEN int
cm_next(int argc, char **argv)
{
int ochan, ichan;
@@ -1188,29 +1122,10 @@
return 0;
}
-/*
- * Returns -
- * -1 on error
- * 0 if data loaded, and interpolator not yet set.
- * 1 if no data, or interpolator already set (message printed)
- */
-int
-chan_not_loaded_or_specified(int ch)
-{
- if (ch < 0 || ch >= nchans) return -1;
- if (chan[ch].c_ilen <= 0) {
- bu_log("error: attempt to set interpolation type on unallocated channel %d\n", ch);
- return 1;
- }
- if (chan[ch].c_interp > 0) {
- bu_log("error: attempt to modify channel %d which already has interpolation type set\n", ch);
- return 1;
- }
- return 0;
-}
#define OPT_STR "q"
-int get_args(int argc, char **argv)
+HIDDEN int
+get_args(int argc, char **argv)
{
int c;
while ((c=bu_getopt(argc, argv, OPT_STR)) != EOF) {
@@ -1226,7 +1141,89 @@
return(1);
}
+int cm_help(int argc, char **argv);
+
+struct command_tab cmdtab[] = {
+ {"file", "filename chan_num(s)", "load channels from file",
+ cm_file, 3, 999},
+ {"times", "start stop fps", "specify time range and fps rate",
+ cm_times, 4, 4},
+ {"interp", "{step|linear|spline|cspline|quat} chan_num(s)", "set interpolation type",
+ cm_interp, 3, 999},
+ {"next", "dest_chan src_chan [+/- #nsamp]", "lookahead in time",
+ cm_next, 3, 4},
+ {"idump", "[chan_num(s)]", "dump input channel values",
+ cm_idump, 1, 999},
+ {"rate", "chan_num init_value incr_per_sec [comment]", "create rate based channel",
+ cm_rate, 4, 5},
+ {"accel", "chan_num init_value mult_per_sec [comment]", "create acceleration based channel",
+ cm_accel, 4, 5},
+ {"help", "", "print help message",
+ cm_help, 1, 999},
+ {(char *)0, (char *)0, (char *)0,
+ 0, 0, 0} /* END */
+};
+
+
/*
+ * XXX this really should go in librt/cmd.c as rt_help_cmd().
+ */
+HIDDEN int
+cm_help(int argc, char **argv)
+{
+ register struct command_tab *ctp;
+
+ if (argc <= 1)
+ {
+ bu_log("The following commands are available:\n\n");
+ for (ctp = cmdtab; ctp->ct_cmd != (char *)0; ctp++) {
+ bu_log("%s %s\n\t%s\n",
+ ctp->ct_cmd, ctp->ct_parms,
+ ctp->ct_comment);
+ }
+ return 0;
+ }
+ bu_log("Detailed help is not yet available.\n");
+ return -1;
+}
+
+
+/*
+ * M A I N
+ */
+int
+main(int argc, char *argv[])
+{
+ register char *buf;
+ register int ret;
+
+ get_args(argc, argv);
+ /*
+ * All the work happens in the functions called by rt_do_cmd().
+ * NOTE that the value of MAXWORDS in rt_do_cmd() limits the
+ * maximum number of columns that a 'file' command can list.
+ */
+ while ((buf = rt_read_cmd(stdin)) != (char *)0) {
+ if (verbose) bu_log("cmd: %s\n", buf);
+ ret = rt_do_cmd(0, buf, cmdtab);
+ bu_free(buf, "cmd buf");
+ if (ret < 0) {
+ if (verbose) bu_log("aborting\n");
+ bu_exit(1, NULL);
+ }
+ }
+
+ if (verbose) bu_log("performing interpolations\n");
+ go();
+
+ if (verbose) bu_log("writing output\n");
+ output();
+
+ bu_exit(0, NULL);
+}
+
+
+/*
* Local Variables:
* mode: C
* tab-width: 8
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