/*******************
* Program Main *
*******************/
int main(int argc, char **argv)
{
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);
glutInitWindowPosition(window_x_pos, window_y_pos);
glutInitWindowSize(window_width, window_height);
glutCreateWindow("FDTD2d TM-mode (PBO)");
glutDisplayFunc(display);
// glutReshapeFunc(resize);
glutKeyboardFunc(keyboard);
glutMouseFunc(mouse);
/* glutMotionFunc(motion); */
glViewport(0, 0, window_width, window_height);
atexit(cleanUp);
/*** init data ***/
malloc_Initialdata();
setInitialData(grid_width, grid_height);
FDTDInit();
PMLInit();
prinfData();
if(!initGL()){
return 1;
}
glutMainLoop();
return 0;
}
//- Construct from Time and timeDict
timeFluxData::timeFluxData
(
Time& t,
const dictionary& timeDict
)
:
time_(t),
writeInterval_(readScalar(t.controlDict().lookup("writeInterval"))),
writeIntSteps_(label(writeInterval_/t.deltaT().value() + 0.5)),
mdTime_(1, readScalar(time_.controlDict().lookup("deltaT"))),
averagingTime_(readLabel(timeDict.lookup("nAverages"))),
controlTime_(readLabel(timeDict.lookup("nControls"))),
writeTime_(writeIntSteps_, writeInterval_),
nAvTimeSteps_("nAvTimeSteps_", dimless, 0.0),
nControlSteps_(0.0),
totalNAvSteps_(0),
totalNContSteps_(0),
totalNWrSteps_(0),
controlTimeIndex_(0),
averagingTimeIndex_(0)
// controlTimes_(),
// averagingTimes_()
{
setInitialData();
}
void timeFluxData::setTimeData(const dictionary& timeDict)
{
const label nAverages(readLabel(timeDict.lookup("nAverages")));
const label nControls(readLabel(timeDict.lookup("nControls")));
averagingTime_.nSteps() = nAverages;
controlTime_.nSteps() = nControls;
setInitialData();
}
void timeData::setTimeData(const dictionary& timeDict)
{
const label nSamples(readLabel(timeDict.lookup("nSamples")));
const label nAverages(readLabel(timeDict.lookup("nAverages")));
// const label nCalcProp(readLabel(timeDict.lookup("nCalcProp")));
const label nControls(readLabel(timeDict.lookup("nControls")));
samplingTime_.nSteps() = nSamples;
averagingTime_.nSteps() = nAverages;
// calcPropTime_.nSteps() = nCalcProp;
controlTime_.nSteps() = nControls;
setInitialData();
}
//- Construct from Time and timeDict
timeData::timeData
(
Time& t,
const dictionary& timeDict
)
:
time_(t),
timeDict_(timeDict),
writeInterval_(readScalar(t.controlDict().lookup("writeInterval"))),
writeIntSteps_(label(writeInterval_/t.deltaT().value() +0.5)),
resetFieldsAtOutput_(true),
resetIndex_(0),
mdTime_(1),
samplingTime_(readLabel(timeDict.lookup("nSamples"))),
averagingTime_(readLabel(timeDict.lookup("nAverages"))),
// calcPropTime_(readLabel(timeDict.lookup("nCalcProp"))),
controlTime_(readLabel(timeDict.lookup("nControls"))),
nAvTimeSteps_("nAvTimeSteps_", dimless, 0.0),
nControlSteps_(0.0),
totalNSampSteps_(0),
totalNAvSteps_(0),
totalNContSteps_(0),
// totalNCalcSteps_(0),
controlTimeIndex_(0),
// calcTimeIndex_(0),
averagingTimeIndex_(0),
decoupledFromWriteInterval_(false)
// controlTimes_(),
// calcTimes_()
// averagingTimes_()
{
if (timeDict.found("decoupledFromWriteInterval"))
{
decoupledFromWriteInterval_ = Switch(timeDict.lookup("decoupledFromWriteInterval"));
}
setInitialData();
}
void Flow::calculateConstraints(const std::shared_ptr<AnimSkeleton>& skeleton,
AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses) {
cleanUp();
if (!skeleton) {
return;
}
auto flowPrefix = FLOW_JOINT_PREFIX.toUpper();
auto simPrefix = SIM_JOINT_PREFIX.toUpper();
std::vector<int> handsIndices;
_groupSettings.clear();
for (int i = 0; i < skeleton->getNumJoints(); i++) {
auto name = skeleton->getJointName(i);
if (std::find(HAND_COLLISION_JOINTS.begin(), HAND_COLLISION_JOINTS.end(), name) != HAND_COLLISION_JOINTS.end()) {
handsIndices.push_back(i);
}
auto parentIndex = skeleton->getParentIndex(i);
if (parentIndex == -1) {
continue;
}
auto jointChildren = skeleton->getChildrenOfJoint(i);
// auto childIndex = jointChildren.size() > 0 ? jointChildren[0] : -1;
auto group = QStringRef(&name, 0, 3).toString().toUpper();
auto split = name.split("_");
bool isSimJoint = (group == simPrefix);
bool isFlowJoint = split.size() > 2 && split[0].toUpper() == flowPrefix;
if (isFlowJoint || isSimJoint) {
group = "";
if (isSimJoint) {
for (int j = 1; j < name.size() - 1; j++) {
bool toFloatSuccess;
QStringRef(&name, (int)(name.size() - j), 1).toString().toFloat(&toFloatSuccess);
if (!toFloatSuccess && (name.size() - j) > (int)simPrefix.size()) {
group = QStringRef(&name, (int)simPrefix.size(), (int)(name.size() - j + 1) - (int)simPrefix.size()).toString();
break;
}
}
if (group.isEmpty()) {
group = QStringRef(&name, (int)simPrefix.size(), name.size() - (int)simPrefix.size()).toString();
}
qCDebug(animation) << "Sim joint added to flow: " << name;
} else {
group = split[1];
}
if (!group.isEmpty()) {
_flowJointKeywords.push_back(group);
FlowPhysicsSettings jointSettings;
if (PRESET_FLOW_DATA.find(group) != PRESET_FLOW_DATA.end()) {
jointSettings = PRESET_FLOW_DATA.at(group);
} else {
jointSettings = DEFAULT_JOINT_SETTINGS;
}
if (_flowJointData.find(i) == _flowJointData.end()) {
auto flowJoint = FlowJoint(i, parentIndex, -1, name, group, jointSettings);
_flowJointData.insert(std::pair<int, FlowJoint>(i, flowJoint));
}
updateGroupSettings(group, jointSettings);
}
} else {
if (PRESET_COLLISION_DATA.find(name) != PRESET_COLLISION_DATA.end()) {
_collisionSystem.addCollisionSphere(i, PRESET_COLLISION_DATA.at(name));
}
}
}
for (auto &jointData : _flowJointData) {
int jointIndex = jointData.first;
glm::vec3 jointPosition, parentPosition, jointTranslation;
glm::quat jointRotation;
getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPosition, _entityPosition, _entityRotation);
getJointTranslation(relativePoses, jointIndex, jointTranslation);
getJointRotation(relativePoses, jointIndex, jointRotation);
getJointPositionInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentPosition, _entityPosition, _entityRotation);
jointData.second.setInitialData(jointPosition, jointTranslation, jointRotation, parentPosition);
}
std::vector<int> roots;
for (auto &joint :_flowJointData) {
if (_flowJointData.find(joint.second.getParentIndex()) == _flowJointData.end()) {
joint.second.setAnchored(true);
roots.push_back(joint.first);
} else {
_flowJointData[joint.second.getParentIndex()].setChildIndex(joint.first);
}
}
int extraIndex = -1;
for (size_t i = 0; i < roots.size(); i++) {
FlowThread thread = FlowThread(roots[i], &_flowJointData);
// add threads with at least 2 joints
if (thread._joints.size() > 0) {
if (thread._joints.size() == 1) {
int jointIndex = roots[i];
auto &joint = _flowJointData[jointIndex];
auto &jointPosition = joint.getUpdatedPosition();
auto newSettings = joint.getSettings();
extraIndex = extraIndex > -1 ? extraIndex + 1 : skeleton->getNumJoints();
joint.setChildIndex(extraIndex);
auto newJoint = FlowJoint(extraIndex, jointIndex, -1, joint.getName(), joint.getGroup(), newSettings);
newJoint.toHelperJoint(jointPosition, HELPER_JOINT_LENGTH);
glm::vec3 translation = glm::vec3(0.0f, HELPER_JOINT_LENGTH, 0.0f);
newJoint.setInitialData(jointPosition + translation, 100.0f * translation , Quaternions::IDENTITY, jointPosition);
_flowJointData.insert(std::pair<int, FlowJoint>(extraIndex, newJoint));
FlowThread newThread = FlowThread(jointIndex, &_flowJointData);
if (newThread._joints.size() > 1) {
_jointThreads.push_back(newThread);
}
} else {
_jointThreads.push_back(thread);
}
}
}
if (_jointThreads.size() == 0) {
onCleanup();
}
if (handsIndices.size() > 0) {
FlowCollisionSettings handSettings;
handSettings._radius = HAND_COLLISION_RADIUS;
for (size_t i = 0; i < handsIndices.size(); i++) {
_collisionSystem.addCollisionSphere(handsIndices[i], handSettings, glm::vec3(), true, true);
}
}
_initialized = _jointThreads.size() > 0;
}
