static void AddGearAndRack (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const reel0 = CreateCylinder(scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.25f, 4.0f);
NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f));
dMatrix matrix;
//connect the box0 to the base by a fix joint (a hinge with zero limit)
NewtonBodyGetMatrix(reel0, &matrix[0][0]);
CustomHinge* const fixJoint0 = new CustomHinge(matrix, reel0, NULL);
fixJoint0->EnableLimits(true);
fixJoint0->SetLimis(0.0f, 0.0f);
NewtonBodyGetMatrix(reel1, &matrix[0][0]);
CustomHinge* const fixJoint1 = new CustomHinge(matrix, reel1, NULL);
fixJoint1->EnableLimits(true);
fixJoint1->SetLimis(0.0f, 0.0f);
CustomHinge* const hinge0 = AddHingeWheel (scene, origin + dVector (-1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomHinge* const hinge1 = AddHingeWheel (scene, origin + dVector ( 1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomCorkScrew* const cylinder = AddCylindricalWheel(scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel1);
cylinder->EnableLinearLimits(true);
cylinder->SetLinearLimis(-2.0f, 2.0f);
NewtonBody* const body0 = hinge0->GetBody0();
NewtonBody* const body1 = hinge1->GetBody0();
NewtonBody* const body2 = cylinder->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
dMatrix matrix2;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
NewtonBodyGetMatrix (body2, &matrix2[0][0]);
dVector pin0 (matrix0.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin2 (matrix2.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
new CustomGear (1.0f, pin0, pin2, body0, body2);
new CustomRackAndPinion (1.0f, pin1, pin2, body1, body2);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), NULL, NULL);
NewtonSkeletonContainerAttachBone(skeleton, reel0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, hinge0->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, hinge1->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, reel1, NULL);
NewtonSkeletonContainerAttachBone(skeleton, cylinder->GetBody0(), reel1);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddGearAndRack (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const reel0 = CreateCylinder(scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.25f, 4.0f);
NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f));
dMatrix matrix;
NewtonBodySetMassMatrix(reel0, 0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodySetMassMatrix(reel1, 0.0f, 0.0f, 0.0f, 0.0f);
CustomHinge* const hinge0 = AddHingeWheel (scene, origin + dVector (-1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomHinge* const hinge1 = AddHingeWheel (scene, origin + dVector ( 1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomCorkScrew* const cylinder = AddCylindricalWheel(scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel0);
cylinder->EnableLinearLimits(true);
cylinder->SetLinearLimis(-2.0f, 2.0f);
NewtonBody* const body0 = hinge0->GetBody0();
NewtonBody* const body1 = hinge1->GetBody0();
NewtonBody* const body2 = cylinder->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
dMatrix matrix2;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
NewtonBodyGetMatrix (body2, &matrix2[0][0]);
dVector pin0 (matrix0.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin2 (matrix2.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
new CustomGear (1.0f, pin0, pin2, body0, body2);
new CustomRackAndPinion (1.0f, pin1, pin2, body1, body2);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), reel0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, hinge0->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, hinge1->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, cylinder->GetBody0(), reel0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
// make an aggregate for disabling collisions
void* const aggregate = NewtonCollisionAggregateCreate(scene->GetNewton());
NewtonCollisionAggregateSetSelfCollision(aggregate, 0);
NewtonCollisionAggregateAddBody(aggregate, reel0);
NewtonCollisionAggregateAddBody(aggregate, reel1);
NewtonCollisionAggregateAddBody(aggregate, body0);
NewtonCollisionAggregateAddBody(aggregate, body1);
NewtonCollisionAggregateAddBody(aggregate, body2);
}
TEST(ButtonProtocolTest, CheckRuns) {
ButtonLed blue(1, LOW);
ButtonLed gold(2, LOW);
ButtonLed pin1(10, LOW);
ButtonLed pin2(11, LOW);
ButtonLed pin3(12, LOW);
ButtonLed* buttons[] = {&pin1,&pin1,&pin2,&pin2,&pin3,&pin3};
ButtonProtocol bp(buttons, (uint8_t)6, &blue, &gold);
bp.check();
}
TEST(ButtonProtocolTest, HandleOtherFrame) {
OpenLcbCanBuffer b;
ButtonLed blue(1, LOW);
ButtonLed gold(2, LOW);
ButtonLed pin1(10, LOW);
ButtonLed pin2(11, LOW);
ButtonLed pin3(12, LOW);
ButtonLed* buttons[] = {&pin1,&pin1,&pin2,&pin2,&pin3,&pin3};
ButtonProtocol bp(buttons, (uint8_t)6, &blue, &gold);
EXPECT_FALSE(bp.receivedFrame(&b));
}
TEST(ButtonProtocolTest, HandleButtonProtocolRequestFrame) {
OpenLcbCanBuffer b;
b.setOpenLcbMTI(0x948);
ButtonLed blue(1, LOW);
ButtonLed gold(2, LOW);
ButtonLed pin1(10, LOW);
ButtonLed pin2(11, LOW);
ButtonLed pin3(12, LOW);
ButtonLed* buttons[] = {&pin1,&pin1,&pin2,&pin2,&pin3,&pin3};
ButtonProtocol bp(buttons, (uint8_t)6, &blue, &gold);
EXPECT_TRUE(bp.receivedFrame(&b));
}
TEST(ButtonProtocolTest, Ctor) {
// This test is named "Ctor", and belongs to the "ButtonProtocolTest"
// test case.
//OpenLcbCanBuffer b;
ButtonLed blue(1, LOW);
ButtonLed gold(2, LOW);
ButtonLed pin1(10, LOW);
ButtonLed pin2(11, LOW);
ButtonLed pin3(12, LOW);
ButtonLed* buttons[] = {&pin1,&pin1,&pin2,&pin2,&pin3,&pin3};
ButtonProtocol bp(buttons, (uint8_t)6, &blue, &gold);
}
void PinDialog::accept()
{
if (m_type == PinPuk) {
if (pin() != pin2()) {
showErrorMessage(PinCodesDoNotMatch);
return;
} else if (puk().length() < 8) {
showErrorMessage(PukCodeTooShort);
return;
}
}
if (pin().length() < 4) {
showErrorMessage(PinCodeTooShort);
return;
}
QDialog::accept();
}
int main (int argc, char *argv[])
{
signal(SIGINT, INThandler);
/* Init */
#if TERSENOV ==1
/*Tersenov*/
Point<2> pout1 ( 0., 3.);
Point<2> pout2 (12., 0.);
Point<2> pin1 ( 1., 2.);
Point<2> pin2 (11., 1.);
#else
/*Mu*/
Point<2> pout1 (-20., 10.);
Point<2> pout2 ( 20.,-10.);
Point<2> pin1 (-10., 2.);
Point<2> pin2 ( 10.,-2.);
#endif
SineGordon_in *old_solver_in = NULL;
Laplace_out *old_solver_out = NULL;
std::vector< Functions::FEFieldFunction<2> * > FEFieldFunc_in_vec;
std::vector< Functions::FEFieldFunction<2> * > FEFieldFunc_out_vec;
InitialGuessFunction IGFunc(FEFieldFunc_in_vec, FEFieldFunc_out_vec, pin1, pin2);
if (argc != 3) {std::cout<<"Wrong input!"<<std::endl; exit(1);}
IGFunc.GAMMA = atof(argv[1]); std::cout<<"GAMMA : "<<IGFunc.GAMMA<<std::endl;
IGFunc.DELTA = atof(argv[2]); std::cout<<"DELTA : "<<IGFunc.DELTA<<std::endl;
// IGFunc.EPSILON = atof(argv[3]); std::cout<<"EPSILON : "<<IGFunc.EPSILON<<std::endl;
// IGFunc.ZETA = atof(argv[4]); std::cout<<"ZETA : "<<IGFunc.ZETA<<std::endl;
set_new_bound_vals(IGFunc, pin1, pin2);
// #if NOF_FIRST_ITERS_TO_PRINT != 0
// SineGordon_in *solver_in_dummy = new SineGordon_in(IGFunc, pin1, pin2);
// Laplace_out *solver_out_dummy = new Laplace_out(IGFunc, pin1, pin2, pout1, pout2);
// print_output(IGFunc, solver_in_dummy, solver_out_dummy, "--initial", 0, false);
// #endif
for (unsigned int k=1; ; k++) {
printf("### main() -- Step 1 (init) (iter: %d)\n", k);
assert(FEFieldFunc_in_vec.size() == k-1);
assert(FEFieldFunc_out_vec.size() == k-1);
/* Step 2: solve inside */
printf("### main() -- Step 2 (SineGordon in)\n");
SineGordon_in *solver_in = new SineGordon_in(IGFunc, pin1, pin2);
FEFieldFunc_in_vec.push_back(solver_in->run(old_solver_in));
old_solver_in = solver_in;
/* Step 3: solve outside */
printf("### main() -- Step 3 (Laplace out)\n");
Laplace_out *solver_out = new Laplace_out(IGFunc, pin1, pin2, pout1, pout2);
FEFieldFunc_out_vec.push_back(solver_out->run(old_solver_out));
old_solver_out = solver_out;
IGFunc.current_depth++; //this corresponds to the nof times that the two problems have been solved
/* Step 5: check for convergence */
printf("### main() -- Step 5 (check conv.)\n");
cpy_bound_vals();
set_new_bound_vals(IGFunc, pin1, pin2);
if (k == MAX_ITERS) {going_out = true;}
if (k<=NOF_FIRST_ITERS_TO_PRINT) {print_output(IGFunc, solver_in, solver_out, "", k, false);}
#if PRINT_FIRST_ITERS__THEN_STOP == 1
else {break;}
#endif
#if STOP_ON_NORM_RAISE == 1
if (chk_conv(k)) {going_out = true;}
#else
if (chk_conv(k)) {break;}
#endif
if (going_out) {
print_output(IGFunc, solver_in, solver_out, "--last", k, true);
break;
}
}
}
