diff options
Diffstat (limited to 'logic/pipeline.cpp')
| -rw-r--r-- | logic/pipeline.cpp | 83 |
1 files changed, 31 insertions, 52 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index 021a576b..eb5ac17a 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -26,12 +26,7 @@ #ifdef _WIN32 # include <windows.h> -#endif - -#if defined __llvm__ -# pragma clang diagnostic push -# pragma clang diagnostic ignored "-Wlanguage-extension-token" -# pragma clang diagnostic ignored "-Wunknown-pragmas" +# include <mmsystem.h> #endif namespace pipeline_impl { @@ -45,7 +40,7 @@ void reltrans::on_center() { interp_pos = { 0, 0, 0 }; in_zone = false; - cur = false; + moving_to_reltans = false; } euler_t reltrans::rotate(const rmat& R, const euler_t& in, vec3_bool disable) const @@ -83,20 +78,17 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, if (state != reltrans_disabled) { - const bool in_zone_ = progn( - if (state == reltrans_non_center) - { - const bool looking_down = value(Pitch) < 20; - return looking_down ? std::fabs(value(Yaw)) > 35 : std::fabs(value(Yaw)) > 65; - } - else - return true; - ); + bool in_zone_ = true; + if (state == reltrans_non_center) + { + const bool looking_down = value(Pitch) < 20; + in_zone_ = looking_down ? std::fabs(value(Yaw)) > 35 : std::fabs(value(Yaw)) > 65; + } - if (!cur && in_zone != in_zone_) + if (!moving_to_reltans && in_zone != in_zone_) { //qDebug() << "reltrans-interp: START" << tcomp_in_zone_; - cur = true; + moving_to_reltans = true; interp_timer.start(); interp_phase_timer.start(); RC_stage = 0; @@ -124,7 +116,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, } } - if (cur) + if (moving_to_reltans) { const double dt = interp_timer.elapsed_seconds(); @@ -156,7 +148,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, if (delta < eps) { //qDebug() << "reltrans-interp: STOP"; - cur = false; + moving_to_reltans = false; } } else @@ -164,7 +156,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, } else { - cur = false; + moving_to_reltans = false; in_zone = false; } @@ -213,10 +205,11 @@ double pipeline::map(double pos, Map& axis) #ifndef NO_NAN_CHECK template<int u, int w> -static bool is_nan(const dmat<u,w>& r) +static cc_forceinline +bool is_nan(const dmat<u,w>& r) { - for (int i = 0; i < u; i++) - for (int j = 0; j < w; j++) + for (unsigned i = 0; i < u; i++) + for (unsigned j = 0; j < w; j++) { int val = std::fpclassify(r(i, j)); if (val == FP_NAN || val == FP_INFINITE) @@ -226,21 +219,8 @@ static bool is_nan(const dmat<u,w>& r) return false; } -template<typename x> -static inline -bool nan_check_(const x& datum) -{ - return is_nan(datum); -} - -template<typename x, typename y, typename... xs> -static inline -bool nan_check_(const x& datum, const y& next, const xs&... rest) -{ - return nan_check_(datum) || nan_check_(next, rest...); -} - -static void emit_nan_check_msg(const char* text, const char* fun, int line) +static cc_forceinline +void emit_nan_check_msg(const char* text, const char* fun, int line) { eval_once( qDebug() << "nan check failed" @@ -254,30 +234,33 @@ template<typename... xs> static cc_noinline bool maybe_nan(const char* text, const char* fun, int line, const xs&... vals) { - if (nan_check_(vals...)) - { - emit_nan_check_msg(text, fun, line); - return true; - } + for (const auto& x : { vals... }) + if (is_nan(x)) + { + emit_nan_check_msg(text, fun, line); + return true; + } return false; } -// for MSVC `else' is like `unlikely' for GNU - #define nan_check(...) \ do \ { \ if (likely(!maybe_nan(#__VA_ARGS__, cc_function_name, __LINE__, __VA_ARGS__))) \ + { \ (void)0; \ + } \ else \ + { \ goto error; \ - } while (false) + } \ + } \ + while (false) #else # define nan_check(...) (void)(__VA_ARGS__) #endif - bool pipeline::maybe_enable_center_on_tracking_started() { if (!tracking_started) @@ -689,7 +672,3 @@ bits::bits() : b(0u) } } // ns pipeline_impl - -#if defined __llvm__ -# pragma clang diagnostic pop -#endif |