Merge branch 'master' of [email protected]:tzaeschke/ode4j.git

CHANGELOG.txt

@@ -1,6 +1,10 @@
 
 0.2.9
 =====
+- Fixed possible infinite loop when calling dxQuickStepParameters.clone()
+- fixed problem in low level check in Cstdio.fprintf()
+- Deprecated equals() methods for DVector3, DVector6 and DQuaternion
+- fixed NaN Check in Common.java
 - Migration to Java 7!!!!
 - Set version to 0.2.9
 - Cleaned up javadoc (@remarks/note/warning to <p>REMARKS:/...) and removed @brief/@ingroup/@defgroup
@@ -16,4 +20,4 @@
 0.2.7
 =====
 - Merged 'cpp' package into 'core' package
-- Issue #3: porting typo in space collider
+- Issue #3: porting typo in space collider

README.md

@@ -26,7 +26,7 @@ Copyright of GIMPACT (c) 2006 Francisco Leon. C.C. 80087371.
 email: projectileman(AT)yahoo.com
 
 LIBCCD:
-Copyright (c)2010 Daniel Fiser <danfis(AT)danfis.cz>
+Copyright (c) 2010 Daniel Fiser <danfis(AT)danfis.cz>
 
 
 Contact

core/src/main/java/org/ode4j/math/DMatrix3.java

@@ -589,7 +589,8 @@ public final int dimJ() {
 	 * Compares two matrices for equality.
 	 * This is marginally faster than <tt>equals(Object o)</tt>.
 	 */
-	public final boolean isEqual(DMatrix3C m) {
+	@Override
+	public final boolean isEq(DMatrix3C m) {
 		for (int i = 0; i < 3; i++) {
 			for (int j = 0; j < 3; j++) {
 				if (get(i, j) != m.get(i, j)) return false;
@@ -599,23 +600,39 @@ public final boolean isEqual(DMatrix3C m) {
 	}
 
 	/**
+	 * Please use isEq() instead.
+	 */
+	@Deprecated
+	public final boolean isEqual(DMatrix3C m) {
+		return isEq(m);
+	}
+
+	/**
+	 * Do not use. This can be slow, use isEquals() instead.
 	 * Compares two objects for equality.
 	 * This is marginally slower than <tt>isEquals(DMatrix3C m)</tt>.
 	 */
 	@Override
+	@Deprecated
 	public final boolean equals(Object o) {
-		if (! (o instanceof DMatrix3C)) {
+		if (o == null) {
 			return false;
 		}
-		DMatrix3C m = (DMatrix3C) o;
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 3; j++) {
-				if (get(i, j) != m.get(i, j)) return false;
-			}
+		if (! (o instanceof DMatrix3C)) {
+			return false;
 		}
-		return true;
+		return isEq((DMatrix3C) o);
 	}
 
+	@Override
+	public int hashCode() {
+		int h = 0;
+		for (double d: v) {
+			h |= Double.doubleToRawLongBits(d);
+			h <<= 2;
+		}
+		return h;
+	}
 
 	public final void eqIdentity() {
 		eqZero();
@@ -678,6 +695,7 @@ public final DMatrix3 eqTranspose() {
 	 * Create a new transposed version of this matrix.
 	 * @return The transposed copy of this matrix.
 	 */
+	@Override
 	public final DMatrix3 reTranspose() {
 		return new DMatrix3(
 				get00(), get10(), get20(),

core/src/main/java/org/ode4j/math/DMatrix3C.java

@@ -64,4 +64,6 @@ public interface DMatrix3C {
 	public double dotRowCol(int row, DMatrix3C m2, int col2);
 	public double dotRowRow(int row, DMatrix3C m2, int row2);
 	public DVector3 columnAsNewVector(int column);
+	public boolean isEq(DMatrix3C m);
+	public DMatrix3 reTranspose();
 }

core/src/main/java/org/ode4j/math/DQuaternion.java

@@ -112,13 +112,30 @@ public void set3(double d) {
 		v[3] = d;
 	}
 
-	public boolean equals(DQuaternion q) {
+	public boolean isEq(DQuaternion q) {
 		return get0()==q.get0() && get1()==q.get1() && get2()==q.get2() && get3()==q.get3();
 	}
 
+	/**
+	 * Do not use. This can be slow, use isEq() instead.
+	 */
+	@Override
+	@Deprecated
+	public boolean equals(Object obj) {
+		if (this == obj) return true;
+		if (obj == null) return false;
+		if (!(obj instanceof DQuaternion)) return false;
+		return isEq((DQuaternion)obj);
+	}
+
 	@Override
-	public boolean equals(Object q) {
-		return false;
+	public int hashCode() {
+		int h = 0;
+		for (double d: v) {
+			h |= Double.doubleToRawLongBits(d);
+			h <<= 6;
+		}
+		return h;
 	}
 
 	public void add(double d0, double d1, double d2, double d3) {

core/src/main/java/org/ode4j/math/DVector3.java

@@ -423,7 +423,8 @@ public final double distance(DVector3C a) {
 	 * @param a
 	 * @return quality
 	 */
-	public final boolean isEq(DVector3 a) {
+	@Override
+	public final boolean isEq(DVector3C a) {
 		return get0()==a.get0() && get1()==a.get1() && get2()==a.get2();
 	}
 
@@ -636,10 +637,13 @@ public final double dotCol(DMatrix3C m, int col) {
 
 
 	/**
+	 * Do not use. This can be slow, use isEq() instead.
+	 * 
 	 * Any implementation of DVector3I will return true if get0(), get1()
 	 * and get2() return the same values.
 	 */
 	@Override
+	@Deprecated
 	public boolean equals(Object obj) {
 		if (this == obj) return true;
 		if (obj == null) return false;

core/src/main/java/org/ode4j/math/DVector3C.java

@@ -50,6 +50,7 @@ public interface DVector3C {
 	public double get2();
 	public float[] toFloatArray();
 	public DVector3 clone();
+	public boolean isEq(DVector3C v);
 	public double lengthSquared();
 	public double length();
 	/** 

core/src/main/java/org/ode4j/math/DVector6.java

@@ -114,10 +114,32 @@ public final double get(int i) {
 		return v[i];
 	}
 
-	public boolean equals(DVector6 v2) {
+	public boolean isEq(DVector6 v2) {
 		return Arrays.equals(v, v2.v);
 	}
 
+	/**
+	 * Do not use. This can be slow, use isEq() instead.
+	 */
+	@Override
+	@Deprecated
+	public boolean equals(Object obj) {
+		if (this == obj) return true;
+		if (obj == null) return false;
+		if (!(obj instanceof DVector6)) return false;
+		return isEq((DVector6)obj);
+	}
+
+	@Override
+	public int hashCode() {
+		int h = 0;
+		for (double d: v) {
+			h |= Double.doubleToRawLongBits(d);
+			h <<= 4;
+		}
+		return h;
+	}
+
 	public void set0(double d) {
 		v[0] = d;
 	}

core/src/main/java/org/ode4j/ode/internal/Common.java

@@ -321,7 +321,7 @@ public static final double dNextAfter(double start, double direction) {
 	//#else
 	//#define dIsNan(x) (_isnan(x))
 	//#endif
-	public final boolean dIsNan(double x) { return x == Double.NaN; }
+	public final boolean dIsNan(double x) { return Double.isNaN(x); }
 
 	//#define dCopySign(a,b) (copysign((a),(b)))
 	public final double dCopySign(double a, double b) {

core/src/main/java/org/ode4j/ode/internal/Matrix.java

@@ -272,7 +272,7 @@ public static void dMultiply1(DVector3 A, final DMatrix3C B,
 	public static void dMultiply1(DMatrix3 A, final DMatrix3C B,
 			final DMatrix3C C) {
 		// dMultiply1(A.v, ((DMatrix3)B).v, ((DMatrix3)C).v, 3, 3, 3);
-        dMultiply0(A, B.clone().eqTranspose(), C);
+        dMultiply0(A, B.reTranspose(), C);
 //		int i, j, k;
 //		double sum;
 //		// dAASSERT (A , B, C);
@@ -333,7 +333,7 @@ public static void dMultiply1(double[] A, final double[] B,
 	public static void dMultiply2(DMatrix3 A, final DMatrix3C B,
 			final DMatrix3C C) {
 		//dMultiply2(A.v, ((DMatrix3) B).v, ((DMatrix3) C).v, 3, 3, 3);
-		dMultiply0(A, B, C.clone().eqTranspose());
+		dMultiply0(A, B, C.reTranspose());
 	}
 
 	/**

core/src/main/java/org/ode4j/ode/internal/Objects_H.java

@@ -80,7 +80,7 @@ public static class dxQuickStepParameters extends CloneableParameter {
 		public double w;			// the SOR over-relaxation parameter
 		@Override
 		protected dxQuickStepParameters clone() {
-			return clone();
+			return cloneThis();
 		}
 	}
 

core/src/main/java/org/ode4j/ode/internal/cpp4j/Cstdio.java

@@ -41,7 +41,7 @@ public static void fprintf(OutputStream out, String fmt, Object ... args) {
 		//FileWriter 	fw = new FileWriter(f);
 		PrintWriter pw = new PrintWriter(out);
 		pw.printf(fmt, args);
-		if (out.equals(stderr)) pw.flush();
+		if (out.equals(stderr.out())) pw.flush();
 	}
 
 	public static void fprintf(FILE out, String fmt, Object ... args) {

core/src/main/java/org/ode4j/ode/internal/libccd/CCD.java

@@ -193,7 +193,7 @@ static void penEPAPos(final ccd_pt_t pt, final ccd_pt_el_t<?> nearest,
 
 		ccdVec3Set(pos, CCD_ZERO, CCD_ZERO, CCD_ZERO);
 		scale = CCD_ZERO;
-		if (len % 2 == 1)
+		if ((len & 1) == 1)
 			len++;
 
 		for (i = 0; i < len / 2; i++){

core/src/main/java/org/ode4j/ode/internal/stuff/Performator.java

@@ -40,9 +40,11 @@ public final class Performator {
      */
     public static final void begin(String key) {
         Entry e = data.get(key);
+        //funny construct for theoretical thread safety
         if (e == null) {
             e = new Entry();
-            data.put(key, e);
+        	data.putIfAbsent(key, e);
+        	e = data.get(key);
         }
         e.begin();
     }

demo-cpp/src/test/java/org/ode4j/tests/math/TestDMatrix3.java

@@ -61,12 +61,12 @@ public void testEqual(){
 		DMatrix3 x = newM3();
 		DMatrix3 xx = newM3();
 		DMatrix3 x1 = new DMatrix3();
-		assertTrue(x.isEqual(xx));
+		assertTrue(x.isEq(xx));
 		for (int i = 0; i < 3; i++) {
 			for (int j = 0; j < 3; j++) {
 				x1.set(xx);
 				x1.set(i, j, 0);
-				assertFalse(x.isEqual(x1));
+				assertFalse(x.isEq(x1));
 			}
 		}
 	}		
@@ -127,16 +127,16 @@ public void testSet(){
 //		assertEquals(x, new DMatrix3(2, 2, 2, 2, 2, 2, 2, 2, 2));
 
 		x = new DMatrix3();
-		assertFalse(x.isEqual(x2));
+		assertFalse(x.isEq(x2));
 	}		
 
 	@Test
 	public void testInit(){
 		DMatrix3 x = newM3();
 		DMatrix3 y = new DMatrix3();
 		DMatrix3 z = new DMatrix3(x);
-		assertTrue(x.isEqual(z));
-		assertFalse(x.isEqual(y));
+		assertTrue(x.isEq(z));
+		assertFalse(x.isEq(y));
 
 		for (int i = 0; i < 3; i++) {
 			for (int j = 0; j < 3; j++) {
@@ -150,10 +150,10 @@ public void testInit(){
 	public void testAdd(){
 		DMatrix3 x = newM3();
 		DMatrix3 t = new DMatrix3();
-		assertFalse(x.isEqual(t));
+		assertFalse(x.isEq(t));
 
 		t.add(x);
-		assertTrue(t.isEqual(x));
+		assertTrue(t.isEq(x));
 
 //		t = new dMatrix3();
 //		t.add(1, 2, 3, 4, 5, 6, 7, 8, 9);
@@ -165,7 +165,7 @@ public void testAdd(){
 				t.add(i, j, 1 + j + 3*i);
 			}
 		}
-		assertTrue(t.isEqual(x));
+		assertTrue(t.isEq(x));
 
 //		t.add0(3);
 //		t.add1(6);
@@ -209,7 +209,7 @@ public void testScale(){
 //		assertTrue(t.equals(y));
 		t.set(x);
 		t.scale(-2);
-		assertTrue(t.isEqual( new DMatrix3(-2, -4, -6, -8, -10, -12, -14, -16, -18) ));
+		assertTrue(t.isEq( new DMatrix3(-2, -4, -6, -8, -10, -12, -14, -16, -18) ));
 
 //		t.sub(0, 3);
 //		t.sub(1, 6);

demo-cpp/src/test/java/org/ode4j/tests/math/TestDQuaternion.java

@@ -51,11 +51,11 @@ public void testEqual(){
 		DQuaternion x2 = new DQuaternion(1, 0, 3, 4);
 		DQuaternion x3 = new DQuaternion(1, 2, 0, 4);
 		DQuaternion x4 = new DQuaternion(1, 2, 3, 0);
-		assertTrue(x.equals(xx));
-		assertFalse(x.equals(x1));
-		assertFalse(x.equals(x2));
-		assertFalse(x.equals(x3));
-		assertFalse(x.equals(x4));
+		assertTrue(x.isEq(xx));
+		assertFalse(x.isEq(x1));
+		assertFalse(x.isEq(x2));
+		assertFalse(x.isEq(x3));
+		assertFalse(x.isEq(x4));
 	}		
 
 	@Test
@@ -106,8 +106,8 @@ public void testInit(){
 		DQuaternion x = new DQuaternion(1, 2, 3, 4);
 		DQuaternion y = new DQuaternion();
 		DQuaternion z = new DQuaternion(x);
-		assertTrue(x.equals(z));
-		assertFalse(x.equals(y));
+		assertTrue(x.isEq(z));
+		assertFalse(x.isEq(y));
 		assertEquals(y.get0(), 0.);
 		assertEquals(y.get1(), 0.);
 		assertEquals(y.get2(), 0.);
@@ -124,12 +124,12 @@ public void testAdd(){
 		DQuaternion x = new DQuaternion(1, 2, 3, 4);
 		DQuaternion y = new DQuaternion(4, 8, -1, -7);
 		DQuaternion t = new DQuaternion();
-		assertFalse(x.equals(y));
+		assertFalse(x.isEq(y));
 
 		t.add(x);
-		assertTrue(t.equals(x));
+		assertTrue(t.isEq(x));
 		t.add(3, 6, -4, -11);
-		assertTrue(t.equals(y));
+		assertTrue(t.isEq(y));
 
 //		t.add(0, -3);
 //		t.add(1, -6);
@@ -173,7 +173,7 @@ public void testSub(){
 		DQuaternion x = new DQuaternion(1, 2, 3, 4);
 		DQuaternion y = new DQuaternion(4, 8, -1, -7);
 		DQuaternion t = new DQuaternion();
-		assertFalse(x.equals(y));
+		assertFalse(x.isEq(y));
 
 		t.add(x);
 		t.add(x);
@@ -195,7 +195,7 @@ public void testScale(){
 
 		t.set(y);
 		t.scale(0.5);
-		assertTrue(t.equals( new DQuaternion(2, 5, -3, -6.5) ));
+		assertTrue(t.isEq( new DQuaternion(2, 5, -3, -6.5) ));
 	}		
 
 //	@Test