void PrintResults()
{
PPP(objects1, objects2, scaffolds);
P(singleton_objects);
P(singleton_scaffolds);
cout << "\n";
PPP(components, gaps, comments);
}
/**
* @function readAndStore_PPP
*/
bool Tensor3D::readAndStore_PPP( std::fstream &_wstream ) {
std::vector<Eigen::VectorXd> PPP(3);
Eigen::VectorXd p(3);
for( int i = 0; i < 3; ++i ) {
_wstream >> p(0);
_wstream >> p(1);
p(2) = 1;
PPP[i] = p;
}
mPPP.push_back( PPP );
return true;
}
int main( ){
// Define a Right-Hand-Side:
// -------------------------
DifferentialState x("", 4, 1), P("", 4, 4);
Control u("", 2, 1);
IntermediateState rhs = cstrModel( x, u );
DMatrix Q = zeros<double>(4,4);
Q(0,0) = 0.2;
Q(1,1) = 1.0;
Q(2,2) = 0.5;
Q(3,3) = 0.2;
DMatrix R = zeros<double>(2,2);
R(0,0) = 0.5;
R(1,1) = 5e-7;
DifferentialEquation f;
f << dot(x) == rhs;
f << dot(P) == getRiccatiODE( rhs, x, u, P, Q, R );
// Define an integrator:
// ---------------------
IntegratorRK45 integrator( f );
integrator.set( INTEGRATOR_PRINTLEVEL, MEDIUM );
integrator.set( PRINT_INTEGRATOR_PROFILE, YES );
// Define an initial value:
// ------------------------
//double x_ss[4] = { 2.14, 1.09, 114.2, 112.9 };
double x_start[20] = { 1.0, 0.5, 100.0, 100.0, 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 };
double u_start[2] = { 14.19, -1113.5 };
// double u_start[2] = { 10.00, -7000.0 };
Grid timeInterval( 0.0, 5000.0, 100 );
integrator.freezeAll();
integrator.integrate( timeInterval, x_start, 0 ,0, u_start );
// GET THE RESULTS
// ---------------
VariablesGrid differentialStates;
integrator.getX( differentialStates );
DVector PP = differentialStates.getLastVector();
DMatrix PPP(4,4);
for( int i=0; i<4; ++i )
for( int j=0; j<4; ++j )
PPP(i,j) = PP(4+i*4+j);
PPP.print( "P1.txt","",PS_PLAIN );
// PPP.printToFile( "P2.txt","",PS_PLAIN );
GnuplotWindow window;
window.addSubplot( differentialStates(0), "cA [mol/l]" );
window.addSubplot( differentialStates(1), "cB [mol/l]" );
window.addSubplot( differentialStates(2), "theta [C]" );
window.addSubplot( differentialStates(3), "thetaK [C]" );
window.addSubplot( differentialStates(4 ), "P11" );
window.addSubplot( differentialStates(9 ), "P22" );
window.addSubplot( differentialStates(14), "P33" );
window.addSubplot( differentialStates(19), "P44" );
window.plot();
return 0;
}
void CStats::Show()
{
// Stop timers
{
EngineTOTAL.FrameEnd ();
Sheduler.FrameEnd ();
UpdateClient.FrameEnd ();
Physics.FrameEnd ();
ph_collision.FrameEnd ();
ph_core.FrameEnd ();
Animation.FrameEnd ();
AI_Think.FrameEnd ();
AI_Range.FrameEnd ();
AI_Path.FrameEnd ();
AI_Node.FrameEnd ();
AI_Vis.FrameEnd ();
AI_Vis_Query.FrameEnd ();
AI_Vis_RayTests.FrameEnd ();
RenderTOTAL.FrameEnd ();
RenderCALC.FrameEnd ();
RenderCALC_HOM.FrameEnd ();
RenderDUMP.FrameEnd ();
RenderDUMP_RT.FrameEnd ();
RenderDUMP_SKIN.FrameEnd ();
RenderDUMP_Wait.FrameEnd ();
RenderDUMP_Wait_S.FrameEnd ();
RenderDUMP_HUD.FrameEnd ();
RenderDUMP_Glows.FrameEnd ();
RenderDUMP_Lights.FrameEnd ();
RenderDUMP_WM.FrameEnd ();
RenderDUMP_DT_VIS.FrameEnd ();
RenderDUMP_DT_Render.FrameEnd();
RenderDUMP_DT_Cache.FrameEnd();
RenderDUMP_Pcalc.FrameEnd ();
RenderDUMP_Scalc.FrameEnd ();
RenderDUMP_Srender.FrameEnd ();
Sound.FrameEnd ();
Input.FrameEnd ();
clRAY.FrameEnd ();
clBOX.FrameEnd ();
clFRUSTUM.FrameEnd ();
netClient1.FrameEnd ();
netClient2.FrameEnd ();
netServer.FrameEnd ();
netClientCompressor.FrameEnd();
netServerCompressor.FrameEnd();
TEST0.FrameEnd ();
TEST1.FrameEnd ();
TEST2.FrameEnd ();
TEST3.FrameEnd ();
g_SpatialSpace->stat_insert.FrameEnd ();
g_SpatialSpace->stat_remove.FrameEnd ();
g_SpatialSpacePhysic->stat_insert.FrameEnd ();
g_SpatialSpacePhysic->stat_remove.FrameEnd ();
}
// calc FPS & TPS
if (Device.fTimeDelta>EPS_S) {
float fps = 1.f/Device.fTimeDelta;
//if (Engine.External.tune_enabled) vtune.update (fps);
float fOne = 0.3f;
float fInv = 1.f-fOne;
fFPS = fInv*fFPS + fOne*fps;
if (RenderTOTAL.result>EPS_S) {
u32 rendered_polies = Device.m_pRender->GetCacheStatPolys();
fTPS = fInv*fTPS + fOne*float(rendered_polies)/(RenderTOTAL.result*1000.f);
//fTPS = fInv*fTPS + fOne*float(RCache.stat.polys)/(RenderTOTAL.result*1000.f);
fRFPS= fInv*fRFPS+ fOne*1000.f/RenderTOTAL.result;
}
}
{
float mem_count = float (Memory.stat_calls);
if (mem_count>fMem_calls) fMem_calls = mem_count;
else fMem_calls = .9f*fMem_calls + .1f*mem_count;
Memory.stat_calls = 0 ;
}
////////////////////////////////////////////////
if (g_dedicated_server) return;
////////////////////////////////////////////////
int frm = 2000;
div_t ddd = div(Device.dwFrame,frm);
if( ddd.rem < frm/2.0f ){
pFont->SetColor (0xFFFFFFFF );
pFont->OutSet (0,0);
pFont->OutNext (*eval_line_1);
pFont->OutNext (*eval_line_2);
pFont->OutNext (*eval_line_3);
pFont->OnRender ();
}
CGameFont& F = *pFont;
float f_base_size = 0.01f;
F.SetHeightI (f_base_size);
if (vtune.enabled()) {
float sz = pFont->GetHeight();
pFont->SetHeightI(0.02f);
pFont->SetColor (0xFFFF0000 );
pFont->OutSet (Device.dwWidth/2.0f+(pFont->SizeOf_("--= tune =--")/2.0f),Device.dwHeight/2.0f);
pFont->OutNext ("--= tune =--");
pFont->OnRender ();
pFont->SetHeight(sz);
};
// Show them
if (psDeviceFlags.test(rsStatistic))
{
static float r_ps = 0;
static float b_ps = 0;
r_ps = .99f*r_ps + .01f*(clRAY.count/clRAY.result);
b_ps = .99f*b_ps + .01f*(clBOX.count/clBOX.result);
CSound_stats snd_stat;
::Sound->statistic (&snd_stat,0);
F.SetColor (0xFFFFFFFF );
F.OutSet (0,0);
F.OutNext ("FPS/RFPS: %3.1f/%3.1f",fFPS,fRFPS);
F.OutNext ("TPS: %2.2f M", fTPS);
m_pRender->OutData1(F);
//F.OutNext ("VERT: %d/%d", RCache.stat.verts,RCache.stat.calls?RCache.stat.verts/RCache.stat.calls:0);
//F.OutNext ("POLY: %d/%d", RCache.stat.polys,RCache.stat.calls?RCache.stat.polys/RCache.stat.calls:0);
//F.OutNext ("DIP/DP: %d", RCache.stat.calls);
#ifdef DEBUG
F.OutSkip ();
#ifdef FS_DEBUG
F.OutNext ("mapped: %d", g_file_mapped_memory);
F.OutSkip ();
#endif
m_pRender->OutData2(F);
//F.OutNext ("SH/T/M/C: %d/%d/%d/%d",RCache.stat.states,RCache.stat.textures,RCache.stat.matrices,RCache.stat.constants);
//F.OutNext ("RT/PS/VS: %d/%d/%d", RCache.stat.target_rt,RCache.stat.ps,RCache.stat.vs);
//F.OutNext ("DCL/VB/IB: %d/%d/%d", RCache.stat.decl,RCache.stat.vb,RCache.stat.ib);
#endif
m_pRender->OutData3(F);
//F.OutNext ("xforms: %d", RCache.stat.xforms);
F.OutSkip ();
#define PPP(a) (100.f*float(a)/float(EngineTOTAL.result))
F.OutNext ("*** ENGINE: %2.2fms",EngineTOTAL.result);
F.OutNext ("Memory: %2.2fa",fMem_calls);
F.OutNext ("uClients: %2.2fms, %2.1f%%, crow(%d)/active(%d)/total(%d)",UpdateClient.result,PPP(UpdateClient.result),UpdateClient_crows,UpdateClient_active,UpdateClient_total);
F.OutNext ("uSheduler: %2.2fms, %2.1f%%",Sheduler.result, PPP(Sheduler.result));
F.OutNext ("uSheduler_L: %2.2fms",fShedulerLoad);
F.OutNext ("uParticles: Qstart[%d] Qactive[%d] Qdestroy[%d]", Particles_starting,Particles_active,Particles_destroy);
F.OutNext ("spInsert: o[%.2fms, %2.1f%%], p[%.2fms, %2.1f%%]", g_SpatialSpace->stat_insert.result, PPP(g_SpatialSpace->stat_insert.result), g_SpatialSpacePhysic->stat_insert.result, PPP(g_SpatialSpacePhysic->stat_insert.result));
F.OutNext ("spRemove: o[%.2fms, %2.1f%%], p[%.2fms, %2.1f%%]", g_SpatialSpace->stat_remove.result, PPP(g_SpatialSpace->stat_remove.result), g_SpatialSpacePhysic->stat_remove.result, PPP(g_SpatialSpacePhysic->stat_remove.result));
F.OutNext ("Physics: %2.2fms, %2.1f%%",Physics.result, PPP(Physics.result));
F.OutNext (" collider: %2.2fms", ph_collision.result);
F.OutNext (" solver: %2.2fms, %d",ph_core.result,ph_core.count);
F.OutNext ("aiThink: %2.2fms, %d",AI_Think.result,AI_Think.count);
F.OutNext (" aiRange: %2.2fms, %d",AI_Range.result,AI_Range.count);
F.OutNext (" aiPath: %2.2fms, %d",AI_Path.result,AI_Path.count);
F.OutNext (" aiNode: %2.2fms, %d",AI_Node.result,AI_Node.count);
F.OutNext ("aiVision: %2.2fms, %d",AI_Vis.result,AI_Vis.count);
F.OutNext (" Query: %2.2fms", AI_Vis_Query.result);
F.OutNext (" RayCast: %2.2fms", AI_Vis_RayTests.result);
F.OutSkip ();
#undef PPP
#define PPP(a) (100.f*float(a)/float(RenderTOTAL.result))
F.OutNext ("*** RENDER: %2.2fms",RenderTOTAL.result);
F.OutNext ("R_CALC: %2.2fms, %2.1f%%",RenderCALC.result, PPP(RenderCALC.result));
F.OutNext (" HOM: %2.2fms, %d",RenderCALC_HOM.result, RenderCALC_HOM.count);
F.OutNext (" Skeletons: %2.2fms, %d",Animation.result, Animation.count);
F.OutNext ("R_DUMP: %2.2fms, %2.1f%%",RenderDUMP.result, PPP(RenderDUMP.result));
F.OutNext (" Wait-L: %2.2fms",RenderDUMP_Wait.result);
F.OutNext (" Wait-S: %2.2fms",RenderDUMP_Wait_S.result);
F.OutNext (" Skinning: %2.2fms",RenderDUMP_SKIN.result);
F.OutNext (" DT_Vis/Cnt:%2.2fms/%d",RenderDUMP_DT_VIS.result,RenderDUMP_DT_Count);
F.OutNext (" DT_Render: %2.2fms",RenderDUMP_DT_Render.result);
F.OutNext (" DT_Cache: %2.2fms",RenderDUMP_DT_Cache.result);
F.OutNext (" Wallmarks: %2.2fms, %d/%d - %d",RenderDUMP_WM.result,RenderDUMP_WMS_Count,RenderDUMP_WMD_Count,RenderDUMP_WMT_Count);
F.OutNext (" Glows: %2.2fms",RenderDUMP_Glows.result);
F.OutNext (" Lights: %2.2fms, %d",RenderDUMP_Lights.result,RenderDUMP_Lights.count);
F.OutNext (" RT: %2.2fms, %d",RenderDUMP_RT.result,RenderDUMP_RT.count);
F.OutNext (" HUD: %2.2fms",RenderDUMP_HUD.result);
F.OutNext (" P_calc: %2.2fms",RenderDUMP_Pcalc.result);
F.OutNext (" S_calc: %2.2fms",RenderDUMP_Scalc.result);
F.OutNext (" S_render: %2.2fms, %d",RenderDUMP_Srender.result,RenderDUMP_Srender.count);
F.OutSkip ();
F.OutNext ("*** SOUND: %2.2fms",Sound.result);
F.OutNext (" TGT/SIM/E: %d/%d/%d", snd_stat._rendered, snd_stat._simulated, snd_stat._events);
F.OutNext (" HIT/MISS: %d/%d", snd_stat._cache_hits, snd_stat._cache_misses);
F.OutSkip ();
F.OutNext ("Input: %2.2fms",Input.result);
F.OutNext ("clRAY: %2.2fms, %d, %2.0fK",clRAY.result, clRAY.count,r_ps);
F.OutNext ("clBOX: %2.2fms, %d, %2.0fK",clBOX.result, clBOX.count,b_ps);
F.OutNext ("clFRUSTUM: %2.2fms, %d", clFRUSTUM.result, clFRUSTUM.count );
F.OutSkip ();
F.OutNext ("netClientRecv: %2.2fms, %d", netClient1.result,netClient1.count);
F.OutNext ("netClientSend: %2.2fms, %d", netClient2.result,netClient2.count);
F.OutNext ("netServer: %2.2fms, %d", netServer.result,netServer.count);
F.OutNext ("netClientCompressor: %2.2fms", netClientCompressor.result);
F.OutNext ("netServerCompressor: %2.2fms", netServerCompressor.result);
F.OutSkip ();
F.OutSkip ();
F.OutNext ("TEST 0: %2.2fms, %d",TEST0.result,TEST0.count);
F.OutNext ("TEST 1: %2.2fms, %d",TEST1.result,TEST1.count);
F.OutNext ("TEST 2: %2.2fms, %d",TEST2.result,TEST2.count);
F.OutNext ("TEST 3: %2.2fms, %d",TEST3.result,TEST3.count);
#ifdef DEBUG_MEMORY_MANAGER
F.OutSkip ();
F.OutNext ("str: cmp[%3d], dock[%3d], qpc[%3d]",Memory.stat_strcmp,Memory.stat_strdock,CPU::qpc_counter);
Memory.stat_strcmp = 0 ;
Memory.stat_strdock = 0 ;
CPU::qpc_counter = 0 ;
#else // DEBUG_MEMORY_MANAGER
F.OutSkip ();
F.OutNext ("qpc[%3d]",CPU::qpc_counter);
CPU::qpc_counter = 0 ;
#endif // DEBUG_MEMORY_MANAGER
// F.OutSet (640,0);
F.OutSkip ();
m_pRender->OutData4(F);
/*
F.OutNext ("static: %3.1f/%d", RCache.stat.r.s_static.verts/1024.f, RCache.stat.r.s_static.dips );
F.OutNext ("flora: %3.1f/%d", RCache.stat.r.s_flora.verts/1024.f, RCache.stat.r.s_flora.dips );
F.OutNext (" flora_lods: %3.1f/%d", RCache.stat.r.s_flora_lods.verts/1024.f, RCache.stat.r.s_flora_lods.dips );
F.OutNext ("dynamic: %3.1f/%d", RCache.stat.r.s_dynamic.verts/1024.f, RCache.stat.r.s_dynamic.dips );
F.OutNext (" dynamic_sw: %3.1f/%d", RCache.stat.r.s_dynamic_sw.verts/1024.f, RCache.stat.r.s_dynamic_sw.dips );
F.OutNext (" dynamic_inst:%3.1f/%d", RCache.stat.r.s_dynamic_inst.verts/1024.f, RCache.stat.r.s_dynamic_inst.dips );
F.OutNext (" dynamic_1B: %3.1f/%d", RCache.stat.r.s_dynamic_1B.verts/1024.f, RCache.stat.r.s_dynamic_1B.dips );
F.OutNext (" dynamic_2B: %3.1f/%d", RCache.stat.r.s_dynamic_2B.verts/1024.f, RCache.stat.r.s_dynamic_2B.dips );
F.OutNext ("details: %3.1f/%d", RCache.stat.r.s_details.verts/1024.f, RCache.stat.r.s_details.dips );
*/
//////////////////////////////////////////////////////////////////////////
// Renderer specific
F.SetHeightI (f_base_size);
F.OutSet (200,0);
Render->Statistics (&F);
//////////////////////////////////////////////////////////////////////////
// Game specific
F.SetHeightI (f_base_size);
F.OutSet (400,0);
g_pGamePersistent->Statistics (&F);
//////////////////////////////////////////////////////////////////////////
// process PURE STATS
F.SetHeightI (f_base_size);
seqStats.Process (rp_Stats);
pFont->OnRender ();
};
if( /*psDeviceFlags.test(rsStatistic) ||*/ psDeviceFlags.test(rsCameraPos) ){
_draw_cam_pos (pFont);
pFont->OnRender ();
};
#ifdef DEBUG
//////////////////////////////////////////////////////////////////////////
// PERF ALERT
if (!g_bDisableRedText)
{
CGameFont& F = *((CGameFont*)pFont);
F.SetColor (color_rgba(255,16,16,255));
F.OutSet (300,300);
F.SetHeightI (f_base_size*2);
if (fFPS<30) F.OutNext ("FPS < 30: %3.1f", fFPS);
//if (RCache.stat.verts>500000) F.OutNext ("Verts > 500k: %d", RCache.stat.verts);
m_pRender->GuardVerts(F);
////if (RCache.stat.polys>500000) F.OutNext ("Polys > 500k: %d", RCache.stat.polys);
if (psDeviceFlags.test(rsStatistic))
{
m_pRender->GuardDrawCalls(F);
//if (RCache.stat.calls>1000) F.OutNext ("DIP/DP > 1k: %d", RCache.stat.calls);
////if (RCache.stat.textures>1000)F.OutNext ("T_change > 500: %d", RCache.stat.textures);
if (RenderDUMP_DT_Count>1000) F.OutNext ("DT_count > 1000: %u", RenderDUMP_DT_Count);
F.OutSkip ();
//if (fMem_calls>1500) F.OutNext ("MMGR calls > 1500:%3.1f", fMem_calls);
if (Sheduler.result>3.f) F.OutNext ("Update > 3ms: %3.1f", Sheduler.result);
if (UpdateClient.result>3.f) F.OutNext ("UpdateCL > 3ms: %3.1f", UpdateClient.result);
if (Physics.result>5.f) F.OutNext ("Physics > 5ms: %3.1f", Physics.result);
}
}
//////////////////////////////////////////////////////////////////////////
// Show errors
if (!g_bDisableRedText && errors.size())
{
CGameFont& F = *((CGameFont*)pFont);
F.SetColor (color_rgba(255,16,16,191));
F.OutSet (200,0);
F.SetHeightI (f_base_size);
#if 0
for (u32 it=0; it<errors.size(); it++)
F.OutNext("%s",errors[it].c_str());
#else
for (u32 it=(u32)_max(int(0),(int)errors.size() - g_ErrorLineCount); it<errors.size(); it++)
F.OutNext("%s",errors[it].c_str());
#endif
F.OnRender ();
}
#endif
{
EngineTOTAL.FrameStart ();
Sheduler.FrameStart ();
UpdateClient.FrameStart ();
Physics.FrameStart ();
ph_collision.FrameStart ();
ph_core.FrameStart ();
Animation.FrameStart ();
AI_Think.FrameStart ();
AI_Range.FrameStart ();
AI_Path.FrameStart ();
AI_Node.FrameStart ();
AI_Vis.FrameStart ();
AI_Vis_Query.FrameStart ();
AI_Vis_RayTests.FrameStart ();
RenderTOTAL.FrameStart ();
RenderCALC.FrameStart ();
RenderCALC_HOM.FrameStart ();
RenderDUMP.FrameStart ();
RenderDUMP_RT.FrameStart ();
RenderDUMP_SKIN.FrameStart ();
RenderDUMP_Wait.FrameStart ();
RenderDUMP_Wait_S.FrameStart();
RenderDUMP_HUD.FrameStart ();
RenderDUMP_Glows.FrameStart ();
RenderDUMP_Lights.FrameStart();
RenderDUMP_WM.FrameStart ();
RenderDUMP_DT_VIS.FrameStart();
RenderDUMP_DT_Render.FrameStart();
RenderDUMP_DT_Cache.FrameStart();
RenderDUMP_Pcalc.FrameStart ();
RenderDUMP_Scalc.FrameStart ();
RenderDUMP_Srender.FrameStart();
Sound.FrameStart ();
Input.FrameStart ();
clRAY.FrameStart ();
clBOX.FrameStart ();
clFRUSTUM.FrameStart ();
netClient1.FrameStart ();
netClient2.FrameStart ();
netServer.FrameStart ();
netClientCompressor.FrameStart();
netServerCompressor.FrameStart();
TEST0.FrameStart ();
TEST1.FrameStart ();
TEST2.FrameStart ();
TEST3.FrameStart ();
g_SpatialSpace->stat_insert.FrameStart ();
g_SpatialSpace->stat_remove.FrameStart ();
g_SpatialSpacePhysic->stat_insert.FrameStart();
g_SpatialSpacePhysic->stat_remove.FrameStart();
}
dwSND_Played = dwSND_Allocated = 0;
Particles_starting = Particles_active = Particles_destroy = 0;
}
