Merge branch 'dev' into physx

markaren · Feb 26, 2024 · 4375aed · 4375aed
2 parents e18aefc + 2d29b5a
commit 4375aed
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Showing 9 changed files with 92 additions and 92 deletions.
diff --git a/examples/projects/Crane3R/Actuator.hpp b/examples/projects/Crane3R/Actuator.hpp
@@ -63,11 +63,11 @@ class Object3DActuator: public Actuator {
     float getProcessOutput() override {
         switch (axis_) {
             case X:
-                return obj_->rotation.x();
+                return obj_->rotation.x;
             case Y:
-                return obj_->rotation.y();
+                return obj_->rotation.y;
             case Z:
-                return obj_->rotation.z();
+                return obj_->rotation.z;
             default:
                 throw std::runtime_error("");
         }

diff --git a/examples/projects/Crane3R/Crane3R.cpp b/examples/projects/Crane3R/Crane3R.cpp
@@ -131,9 +131,9 @@ std::shared_ptr<Crane3R> Crane3R::create() {
 std::vector<Angle> Crane3R::getValues() const {
 
     std::vector<Angle> angles{
-            Angle::radians(parts_[0]->rotation.z()),
-            Angle::radians(parts_[1]->rotation.y()),
-            Angle::radians(parts_[2]->rotation.y()),
+            Angle::radians(parts_[0]->rotation.z),
+            Angle::radians(parts_[1]->rotation.y),
+            Angle::radians(parts_[2]->rotation.y),
     };
 
     return angles;

diff --git a/examples/projects/Youbot/Youbot.hpp b/examples/projects/Youbot/Youbot.hpp
@@ -80,11 +80,11 @@ struct Youbot: Object3D, KeyListener {
 
     std::vector<float> getJointValues() {
         return {
-                arm_joint1->rotation.z() * math::RAD2DEG,
-                arm_joint2->rotation.z() * math::RAD2DEG + 90,
-                arm_joint3->rotation.z() * math::RAD2DEG + 90,
-                arm_joint4->rotation.z() * math::RAD2DEG,
-                arm_joint5->rotation.z() * math::RAD2DEG,
+                arm_joint1->rotation.z * math::RAD2DEG,
+                arm_joint2->rotation.z * math::RAD2DEG + 90,
+                arm_joint3->rotation.z * math::RAD2DEG + 90,
+                arm_joint4->rotation.z * math::RAD2DEG,
+                arm_joint5->rotation.z * math::RAD2DEG,
         };
     }
 

diff --git a/include/threepp/math/float_view.hpp b/include/threepp/math/float_view.hpp
@@ -16,7 +16,7 @@ namespace threepp {
         float_view(float value = 0)
             : value_(value) {}
 
-        inline float operator()() const {
+        inline operator float() const {
 
             return value_;
         }

diff --git a/src/threepp/math/Matrix4.cpp b/src/threepp/math/Matrix4.cpp
@@ -151,7 +151,7 @@ Matrix4& Matrix4::makeRotationFromEuler(const Euler& ee) {
 
     auto& te = this->elements;
 
-    const float x = ee.x(), y = ee.y(), z = ee.z();
+    const float x = ee.x, y = ee.y, z = ee.z;
     const float a = std::cos(x), b = std::sin(x);
     const float c = std::cos(y), d = std::sin(y);
     const float e = std::cos(z), f = std::sin(z);
@@ -638,7 +638,7 @@ Matrix4& Matrix4::compose(const Vector3& position, const Quaternion& quaternion,
 
     auto& te = this->elements;
 
-    const float x = quaternion.x(), y = quaternion.y(), z = quaternion.z(), w = quaternion.w();
+    const float x = quaternion.x, y = quaternion.y, z = quaternion.z, w = quaternion.w;
     const float x2 = x + x, y2 = y + y, z2 = z + z;
     const float xx = x * x2, xy = x * y2, xz = x * z2;
     const float yy = y * y2, yz = y * z2, zz = z * z2;

diff --git a/src/threepp/math/Quaternion.cpp b/src/threepp/math/Quaternion.cpp
@@ -18,13 +18,13 @@ Quaternion::Quaternion(float x, float y, float z, float w)
 float Quaternion::operator[](unsigned int index) const {
     switch (index) {
         case 0:
-            return x();
+            return x;
         case 1:
-            return y();
+            return y;
         case 2:
-            return z();
+            return z;
         case 3:
-            return w();
+            return w;
         default:
             throw std::runtime_error("index out of bound: " + std::to_string(index));
     }
@@ -44,10 +44,10 @@ Quaternion& Quaternion::set(float x, float y, float z, float w) {
 
 Quaternion& Quaternion::copy(const Quaternion& quaternion) {
 
-    this->x.value_ = quaternion.x();
-    this->y.value_ = quaternion.y();
-    this->z.value_ = quaternion.z();
-    this->w.value_ = quaternion.w();
+    this->x.value_ = quaternion.x;
+    this->y.value_ = quaternion.y;
+    this->z.value_ = quaternion.z;
+    this->w.value_ = quaternion.w;
 
     this->onChangeCallback_();
 
@@ -56,7 +56,7 @@ Quaternion& Quaternion::copy(const Quaternion& quaternion) {
 
 Quaternion& Quaternion::setFromEuler(const Euler& euler, bool update) {
 
-    const auto x = euler.x(), y = euler.y(), z = euler.z();
+    const auto x = euler.x, y = euler.y, z = euler.z;
     const auto order = euler.order_;
 
     // http://www.mathworks.com/matlabcentral/fileexchange/
@@ -406,8 +406,8 @@ Quaternion& Quaternion::multiplyQuaternions(const Quaternion& a, const Quaternio
 
     // from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
 
-    const auto qax = a.x(), qay = a.y(), qaz = a.z(), qaw = a.w();
-    const auto qbx = b.x(), qby = b.y(), qbz = b.z(), qbw = b.w();
+    const auto qax = a.x, qay = a.y, qaz = a.z, qaw = a.w;
+    const auto qbx = b.x, qby = b.y, qbz = b.z, qbw = b.w;
 
     this->x.value_ = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
     this->y.value_ = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
@@ -426,7 +426,7 @@ Quaternion Quaternion::clone() const {
 
 bool Quaternion::equals(const Quaternion& v) const {
 
-    return ((v.x() == this->x()) && (v.y() == this->y()) && (v.z() == this->z()) && (v.w() == this->w()));
+    return ((v.x == this->x) && (v.y == this->y) && (v.z == this->z) && (v.w == this->w));
 }
 
 Quaternion& Quaternion::_onChange(std::function<void()> callback) {

diff --git a/src/threepp/math/Vector3.cpp b/src/threepp/math/Vector3.cpp
@@ -219,7 +219,7 @@ Vector3& Vector3::applyMatrix4(const Matrix4& m) {
 Vector3& Vector3::applyQuaternion(const Quaternion& q) {
 
     const auto x = this->x, y = this->y, z = this->z;
-    const auto qx = q.x(), qy = q.y(), qz = q.z(), qw = q.w();
+    const auto qx = q.x, qy = q.y, qz = q.z, qw = q.w;
 
     // calculate quat * vector
 

diff --git a/tests/core/Object3D_test.cpp b/tests/core/Object3D_test.cpp
@@ -33,9 +33,9 @@ TEST_CASE("applyMatrix4") {
     a->applyMatrix4(m);
 
     REQUIRE(a->position == expectedPos);
-    auto result = std::abs(a->quaternion.x() - expectedQuat.x()) <= eps &&
-                  std::abs(a->quaternion.y() - expectedQuat.y()) <= eps &&
-                  std::abs(a->quaternion.z() - expectedQuat.z()) <= eps;
+    auto result = std::abs(a->quaternion.x - expectedQuat.x) <= eps &&
+                  std::abs(a->quaternion.y - expectedQuat.y) <= eps &&
+                  std::abs(a->quaternion.z - expectedQuat.z) <= eps;
     REQUIRE(result);
 }
 
@@ -49,9 +49,9 @@ TEST_CASE("applyQuaternion") {
     a->quaternion.set(0.25, 0.25, 0.25, 0.25);
     a->applyQuaternion(quat);
 
-    auto result = std::abs(a->quaternion.x() - expected.x()) <= eps &&
-                  std::abs(a->quaternion.y() - expected.y()) <= eps &&
-                  std::abs(a->quaternion.z() - expected.z()) <= eps;
+    auto result = std::abs(a->quaternion.x - expected.x) <= eps &&
+                  std::abs(a->quaternion.y - expected.y) <= eps &&
+                  std::abs(a->quaternion.z - expected.z) <= eps;
     REQUIRE(result);
 }