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Branch reduce propertyaccess wrap#3301

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aymanhab wants to merge 36 commits intomainopensim-org/opensim-core:mainfrom branch_reduce_propertyaccess_wrapopensim-org/opensim-core:branch_reduce_propertyaccess_wrapCopy head branch name to clipboard

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Commits on Mar 16, 2022

• Refactored WrapCylinder::_calc_spiral_wrap_point for const-correctness and shuffled locals around

  

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• Reimplemented WrapCylinder::_make_spiral_path for perf

  

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Commits on Mar 19, 2022

• Cleaned up wrap angle calc

  

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• Cleaned up _make_spiral_path comment

  

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• Added extremely appropriate TODOs into the wrapping implementation

  

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Commits on Aug 18, 2022

• Add test case for testWrappingAlgorithm.cpp

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• test cyliinder, sphere, ellpsoid path length and moment arms for correctness in nominal setting

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• Reduce number of steps and move body COM to allow for path to wrap under gravity

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Commits on Aug 22, 2022

• Add non-perpendicular wrapping case

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Commits on Aug 27, 2022

• Merge branch 'master' into test_wrapping_algorithm

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• disable rotation tests in-progress

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Commits on Aug 29, 2022

• Add test comapre cylinder to ellipsoid wrapping

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Commits on Aug 30, 2022

• Update continuous_integration.yml

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• Update testWrappingAlgorithm.cpp

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• Use angles of -30 to 30 degrees for comparing cylinder vs. ellipsoid as larger angles snap incorrectly

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• Merge branch 'test_wrapping_algorithm' of https://github.com/opensim-org/opensim-core into test_wrapping_algorithm

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• Merge branch 'test_wrapping_algorithm' of https://github.com/opensim-org/opensim-core into test_wrapping_algorithm

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Commits on Sep 8, 2022

• Merge remote-tracking branch 'remotes/origin/master' into test_wrapping_algorithm

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• Compare length with analytical answer in every iteration

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• Merge branch 'test_wrapping_algorithm' of https://github.com/opensim-org/opensim-core into test_wrapping_algorithm

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• Address feedback on PR, clarify comments and some cleanup

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Commits on Sep 26, 2022

• Merge branch 'master' into test_wrapping_algorithm

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Commits on Sep 29, 2022

• Merge branch 'test_wrapping_algorithm' of https://github.com/opensim-org/opensim-core into test_wrapping_algorithm

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Commits on Oct 4, 2022

• Clarify comments and address feedback on test case

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• cache property radius into a member variable _radius

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Commits on Oct 6, 2022

• Merge remote-tracking branch 'remotes/origin/perf_optimize-wrapcylinder-make-spiral-path' into branch_reduce_propertyaccess_wrap (refactoring of CalcWrapPoint from Adam with additional optimization…

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Commits on Oct 13, 2022

• Cache property in local variable for speedup

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• cache properties and call ensureCapacity when size is known to avoid allocation/deallocation/copying overhead

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• Fix index 1->i error, cache properties and ensureCapacity on arrays once size is known to avoid allocation/deallocation/copying overhead. Also move loop invariant calculations outside loops

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Commits on Oct 16, 2022

• Vary xyz rotations to exercise quadrants

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• Remove MAX, MIN macros and replace with inline std replacement

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• Fix visualization bug due to radian/degree conversion, cache properties and utilize zero origin to remove unnecessary computations

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Commits on Oct 17, 2022

• Comment debugging line (leaving behind for future change/debugging)

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• Clarifying comments and minor rearrangement

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Commits on Oct 20, 2022

• Fix compilation errors on *nixes due to initialization across gotos

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• Performance, leverage the fact that wrapping is computed in cylinder's own frame with z axis, eliminate the unnecessarily expensive CalcWrapPoint method

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