//----------------------------------------------------------------------
FLOCK::FLOCK(RTPSSettings* set, CL* c):System(set,c)
{
//seed random
srand ( time(NULL) );
std::vector<FLOCKParameters> vparams(0);
vparams.push_back(flock_params);
cl_FLOCKParameters= Buffer<FLOCKParameters>(cli, vparams);
calculate();
updateParams();
spacing = settings->GetSettingAs<float>("spacing");
dout<<"spacing ="<<spacing<<endl;
//set up the grid
setupDomain(flock_params.smoothing_distance/flock_params.simulation_scale,flock_params.simulation_scale);
//set up the timers
setupTimers();
//setup the sorted and unsorted arrays
prepareSorted();
#ifdef CPU
dout<<"RUNNING ON THE CPU"<<endl;
#endif
#ifdef GPU
dout<<"RUNNING ON THE GPU"<<endl;
//should be more cross platform
string flock_source_dir = settings->GetSettingAs<string>("rtps_path") + "/" + std::string(FLOCK_CL_SOURCE_DIR);
cli->addIncludeDir(flock_source_dir);
rules = Rules(flock_source_dir, cli, timers["rules_gpu"]);
euler_integration = EulerIntegration(flock_source_dir, cli, timers["euler_gpu"]);
#endif
//renderer->setParticleRadius(spacing);
}
void KinematicCarModel::propagate(const ob::State *state, const oc::Control* control, const double duration, ob::State *result) const
{
EulerIntegration(state, control, duration, result);
}
