Export pinocchio file
This commit is contained in:
parent
ca018300a1
commit
ae74a5d55d
5 changed files with 2582 additions and 90 deletions
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@ -266,6 +266,19 @@ void print_vec3(const Vec3 &v)
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std::cout << "(" << v.x() << ", " << v.y() << ", " << v.z() << ")" << std::endl;
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}
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Bone *find_root(Bone *bone)
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{
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float len = length(bone->get_bone_local_root_position() - bone->get_bone_local_tip_position());
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if (len > 0.0f)
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return bone;
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for (int i = 0; i < bone->childCount(); i++)
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{
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return find_root(bone->child_at(i));
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}
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}
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void Skeleton::get_bones(Bone *bone, std::vector<Bone *> &bone_list)
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{
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float len = length(bone->get_bone_local_root_position() - bone->get_bone_local_tip_position());
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@ -316,6 +329,26 @@ void calc_points(Bone *bone, std::vector<Vec3> &points, Vec3 parent_pos, float c
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}
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}
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struct BonePoint
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{
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Bone *bone;
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Vec3 point;
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};
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void calc_points_off_set(Bone *bone, std::vector<BonePoint> &points, Vec3 parent_pos, float correction)
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{
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Vec3 new_pos = parent_pos + (into_vec3(bone->get_bone_local_tip_position()) / correction);
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BonePoint bp = {bone, new_pos};
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points.emplace_back(bp);
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for (int i = 0; i < bone->childCount(); i++)
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{
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calc_points_off_set(bone->child_at(i), points, new_pos, correction);
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}
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}
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float abs(float &v)
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{
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if (v < 0.0f)
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@ -326,6 +359,106 @@ float abs(float &v)
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return v;
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}
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struct Differences
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{
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Vec3 min;
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Vec3 max;
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Vec3 diff;
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float max_diff;
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};
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Differences calc_diffs(std::vector<Vec3> &points)
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{
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Vec3 min(0.0f, 0.0f, 0.0f);
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Vec3 max(0.0f, 0.0f, 0.0f);
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for (auto &point : points)
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{
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//print_vec3(point);
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if (point.x() < min.x())
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{
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min.x() = point.x();
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}
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if (point.y() < min.y())
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{
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min.y() = point.y();
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}
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if (point.z() < min.z())
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{
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min.z() = point.z();
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}
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if (point.x() > max.x())
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{
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max.x() = point.x();
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}
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if (point.y() > max.y())
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{
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max.y() = point.y();
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}
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if (point.z() > max.z())
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{
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max.z() = point.z();
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}
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}
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float x_diff = abs(min.x()) + abs(max.x());
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float y_diff = abs(min.y()) + abs(max.y());
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float z_diff = abs(min.z()) + abs(max.z());
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float max_diff = std::max(x_diff, std::max(y_diff, z_diff));
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Differences diffs = {
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min, max, Vec3(x_diff, y_diff, z_diff), max_diff};
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return diffs;
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}
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float nip(float v)
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{
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if (v < 0.0f)
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return -v;
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return 0.0f;
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}
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Vec3 nip(Vec3 v)
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{
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return Vec3(nip(v.x()), nip(v.y()), nip(v.z()));
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}
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float correct_fract(float &f)
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{
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float almost_zero = 0.0000001f;
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if (abs(f) < almost_zero)
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return 0.0f;
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return f;
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}
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Vec3 correct_fract(Vec3 &v)
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{
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return Vec3(correct_fract(v.x()), correct_fract(v.y()), correct_fract(v.z()));
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}
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Vec3 find_point(Bone *bone, std::vector<BonePoint> &bps)
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{
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for (BonePoint &bp : bps)
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{
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if (bp.bone == bone)
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return correct_fract(bp.point);
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}
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// bone not found, something went wrong
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abort();
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}
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void Skeleton::write_pinocchio_file(const std::string &filename)
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{
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std::ofstream o;
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@ -347,66 +480,25 @@ void Skeleton::write_pinocchio_file(const std::string &filename)
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std::vector<Vec3> points;
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calc_points(root, points, Vec3(0.0f, 0.0f, 0.0f));
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Vec3 min(0.0f, 0.0f, 0.0f);
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Vec3 max(0.0f, 0.0f, 0.0f);
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for (auto &point : points)
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{
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//print_vec3(point);
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if (point.x() < min.x())
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{
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min.x() = point.x();
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}
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if (point.y() < min.y())
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{
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min.y() = point.y();
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}
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if (point.z() < min.z())
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{
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min.z() = point.z();
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}
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if (point.x() > max.x())
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{
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max.x() = point.x();
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}
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if (point.y() > max.y())
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{
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max.y() = point.y();
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}
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if (point.z() > max.z())
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{
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max.z() = point.z();
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}
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}
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//std::cout << "min: ";
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//print_vec3(min);
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//std::cout << "max: ";
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//print_vec3(max);
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float x_diff = abs(min.x()) + abs(max.x());
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float y_diff = abs(min.y()) + abs(max.y());
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float z_diff = abs(min.z()) + abs(max.z());
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float max_diff = std::max(x_diff, std::max(y_diff, z_diff));
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Differences diffs = calc_diffs(points);
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std::vector<Vec3> points2;
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calc_points(root, points2, Vec3(0.0f, 0.0f, 0.0f), max_diff);
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calc_points(root, points2, Vec3(0.0f, 0.0f, 0.0f), diffs.max_diff);
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for (auto p : points2)
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{
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print_vec3(p);
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}
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Differences diffs2 = calc_diffs(points2);
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Vec3 offset(nip(diffs2.min));
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std::cout << "offset: ";
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print_vec3(offset);
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std::vector<BonePoint> points3;
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calc_points_off_set(root, points3, offset, diffs.max_diff);
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//std::cout << "max_diff: " << max_diff << std::endl;
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Bone *new_root = find_root(root);
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// ---------------------------- info ----------------------------
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int i = 0;
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for (Bone *bone : bone_list)
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@ -415,9 +507,17 @@ void Skeleton::write_pinocchio_file(const std::string &filename)
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int parent_index = find_bone(bone->get_parent(), bone_list);
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if (parent_index == -1)
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{
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if (bone != new_root)
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{
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parent_index = find_bone(new_root, bone_list);
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}
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}
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//std::cout << i++ << ": " << bone->get_name() << ": " << len << " parent: " << parent_index << std::endl;
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Vec3 c = into_vec3(bone->get_bone_local_tip_position()) / max_diff;
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Vec3 c = find_point(bone, points3);
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o << i++ << " " << c.x() << " " << c.y() << " " << c.z() << " " << parent_index << std::endl;
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}
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@ -1,5 +0,0 @@
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(cos((r*pi)/180)+x²*(1-cos(r*pi)/180))*xl+(-z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*yl+(y*sin((r*pi)/180)+z*x*(1-cos(r*pi)/180))*zl = xs
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(z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*xl+(cos((r*pi)/180)+y²*(1-cos(r*pi)/180))*yl+(-x*sin((r*pi)/180)+z*y*(1-cos(r*pi)/180))*zl = ys
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(-y*sin((r*pi)/180)+x*z*(1-cos(r*pi)/180))*xl+(x*sin((r*pi)/180)+y*z(1-cos(r*pi)/180))*yl+(cos((r*pi)/180)+z²*(1-cos(r*pi)/180))*zl = zs
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(cos((r*pi)/180)+x²*(1-cos(r*pi)/180))*xl+(-z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*yl+(y*sin((r*pi)/180)+z*x*(1-cos(r*pi)/180))*zl)-xt)²+((z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*xl+(cos((r*pi)/180)+y²*(1-cos(r*pi)/180))*yl+(-x*sin((r*pi)/180)+z*y*(1-cos(r*pi)/180))*zl-yt)²+((-y*sin((r*pi)/180)+x*z*(1-cos(r*pi)/180))*xl+(x*sin((r*pi)/180)+y*z(1-cos(r*pi)/180))*yl+(cos((r*pi)/180)+z²*(1-cos(r*pi)/180))*zl-zt)²
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2367
attachment.out
Normal file
2367
attachment.out
Normal file
File diff suppressed because it is too large
Load diff
60
penis.txt
60
penis.txt
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@ -1,30 +1,30 @@
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0 0.0429472 -0.0565452 0.0264444 -1
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1 -7.5121e-09 -0.225528 0 0
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2 0 -0.236038 0 1
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3 8.92062e-09 -0.073179 -0.014522 2
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4 -5.48289e-17 -0.0374839 4.69168e-08 3
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5 -0.0411343 -0.0565452 0.0264444 -1
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6 0 -0.234226 0 5
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7 -7.5121e-09 -0.236596 0 6
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8 4.69506e-09 -0.0744582 -0.0151752 7
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9 2.00063e-16 -0.0381506 4.77513e-08 8
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10 0.000890649 0.0641375 -0.00609295 -1
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11 0.00178704 0.0645553 -0.00134698 10
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12 0.00128702 0.0650298 0.00152129 11
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13 -0.00170664 0.0550206 0.00542001 12
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14 0.00327919 0.0554969 -0.00390619 13
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15 0.00117224 0.0557831 -0.00196647 14
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16 0.105943 0.0378376 -0.00980558 12
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17 1.68454e-07 -0.157005 -2.90101e-07 16
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18 1.17764e-07 -0.10976 -2.02806e-07 17
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19 -3.12333e-18 -0.0548801 7.10897e-08 18
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20 -1.28279e-18 -0.0225364 2.91929e-08 19
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21 -1.0339e-18 -0.0181695 2.35361e-08 20
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22 1.78412e-08 -0.0260878 3.10974e-08 19
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23 -0.0988282 0.0432937 -0.0127496 12
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24 -1.77206e-07 -0.165162 -3.05173e-07 23
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25 -1.16433e-07 -0.108519 -2.00513e-07 24
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26 3.08802e-18 -0.0542597 6.70519e-08 25
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27 1.11643e-18 -0.0196147 2.4239e-08 26
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28 8.99718e-19 -0.0158139 1.95421e-08 27
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29 -1.50242e-08 -0.0227056 2.70658e-08 26
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0 0.137811 0.583432 0.0451131 -1
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1 0.137811 0.357903 0.0451131 0
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2 0.137811 0.121865 0.0451131 1
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3 0.137811 0.0486858 0.0305911 2
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4 0.137811 0.011202 0.0305911 3
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5 0.0537295 0.583432 0.0451131 0
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6 0.0537295 0.349205 0.0451131 5
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7 0.0537295 0.112609 0.0451131 6
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8 0.0537295 0.0381506 0.0299378 7
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9 0.0537295 0 0.0299379 8
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10 0.0957544 0.704114 0.0125758 0
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11 0.0975414 0.768669 0.0112288 10
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12 0.0988285 0.833699 0.0127501 11
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13 0.0971218 0.88872 0.0181701 12
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14 0.100401 0.944217 0.0142639 13
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15 0.101573 1 0.0122974 14
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16 0.204771 0.871537 0.0029445 12
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17 0.204771 0.714532 0.00294421 16
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18 0.204772 0.604772 0.00294401 17
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19 0.204772 0.549892 0.00294408 18
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20 0.204772 0.527356 0.00294411 19
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21 0.204772 0.509186 0.00294413 20
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22 0.204772 0.523804 0.00294411 19
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23 3.12924e-07 0.876993 5.06639e-07 12
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24 1.35718e-07 0.711831 2.01466e-07 23
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25 0 0.603312 0 24
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26 0 0.549052 0 25
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27 0 0.529438 0 26
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28 0 0.513624 1.11786e-07 27
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29 0 0.526347 0 26
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30
skeleton.out
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30
skeleton.out
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@ -0,0 +1,30 @@
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0 2.3462 53.9829 1.04428 -1
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1 5.75874 34.4147 0.482767 0
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2 6.48344 11.7505 -0.628775 1
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3 6.65659 5.263 -0.586761 2
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4 6.77683 1.34023 -0.33446 3
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5 -4.64843 48.7597 1.71993 0
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6 -5.72403 29.1603 0.0568622 5
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7 -6.62952 11.1159 -0.574507 6
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8 -6.66423 4.90962 -0.5577 7
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9 -6.74013 1.14803 -0.275692 8
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10 -0.604978 63.0263 0.779478 0
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11 -0.130926 69.2639 -1.52999 10
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12 0.115879 74.5396 -2.65442 11
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13 -0.15631 79.638 -0.895521 12
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14 0.0588091 84.345 -0.695696 13
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15 0.0437946 89.1495 -0.353748 14
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16 9.09887 72.4755 -2.84531 12
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17 16.8129 64.0465 -2.13472 16
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18 23.1151 58.5242 -0.650485 17
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19 27.4567 54.6228 1.36793 18
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20 28.2612 52.7851 1.45856 19
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21 29.4334 50.6264 1.52051 20
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22 27.5264 52.6479 1.44833 19
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23 -8.56763 72.9413 -2.96782 12
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24 -18.5195 62.3423 -2.08202 23
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25 -25.8688 56.1692 0.456197 24
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26 -28.335 53.0878 1.24571 25
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27 -29.673 51.1485 1.84335 26
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28 -29.8857 50.0595 1.80841 27
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29 -28.5799 51.4408 1.22361 26
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