void GLGPUDataset::SerializeDataInfoToString(std::string& buf) const
{
#if WITH_PROTOBUF
PBDataInfo pb;
pb.set_model(PBDataInfo::GLGPU);
pb.set_name(_data_name);
if (Lengths()[0]>0) {
pb.set_ox(Origins()[0]);
pb.set_oy(Origins()[1]);
pb.set_oz(Origins()[2]);
pb.set_lx(Lengths()[0]);
pb.set_ly(Lengths()[1]);
pb.set_lz(Lengths()[2]);
}
pb.set_bx(B()[0]);
pb.set_by(B()[1]);
pb.set_bz(B()[2]);
pb.set_kex(Kex());
pb.set_dx(dims()[0]);
pb.set_dy(dims()[1]);
pb.set_dz(dims()[2]);
pb.set_pbc_x(pbc()[0]);
pb.set_pbc_y(pbc()[0]);
pb.set_pbc_z(pbc()[0]);
pb.SerializeToString(&buf);
#endif
}
//////////////////////////////////////////////////////////////////////////
//! build a box
//////////////////////////////////////////////////////////////////////////
void buildBox(void)
{
Vec3f Lengths((Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0);
Matrix m;
//create OpenSG mesh
GeometryRefPtr box;
NodeRefPtr boxNode = makeBox(Lengths.x(), Lengths.y(), Lengths.z(), 1, 1, 1);
box = dynamic_cast<Geometry*>(boxNode->getCore());
SimpleMaterialRefPtr box_mat = SimpleMaterial::create();
box_mat->setAmbient(Color3f(0.0,0.0,0.0));
box_mat->setDiffuse(Color3f(0.0,1.0 ,0.0));
box->setMaterial(box_mat);
TransformRefPtr boxTrans;
NodeRefPtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
m.setIdentity();
Real32 randX = (Real32)(rand()%10)-5.0;
Real32 randY = (Real32)(rand()%10)-5.0;
m.setTranslate(randX, randY, 10.0);
boxTrans->setMatrix(m);
//create ODE data
PhysicsBodyRefPtr boxBody = PhysicsBody::create(physicsWorld);
boxBody->setPosition(Vec3f(randX, randY, 10.0));
boxBody->setBoxMass(1.0, Lengths.x(), Lengths.y(), Lengths.z());
//std::cout << "mass: " << boxBody->getMass() << std::endl
//<< "massCenterOfGravity: " << boxBody->getMassCenterOfGravity().x() << ", " << boxBody->getMassCenterOfGravity().y() << ", " << boxBody->getMassCenterOfGravity().z() << std::endl
//<< "massInertiaTensor: " << std::endl
//<< boxBody->getMassInertiaTensor()[0][0] << " "<< boxBody->getMassInertiaTensor()[0][1] << " "<< boxBody->getMassInertiaTensor()[0][2] << " " << boxBody->getMassInertiaTensor()[0][3] << std::endl
//<< boxBody->getMassInertiaTensor()[1][0] << " "<< boxBody->getMassInertiaTensor()[1][1] << " "<< boxBody->getMassInertiaTensor()[1][2] << " " << boxBody->getMassInertiaTensor()[1][3] << std::endl
//<< boxBody->getMassInertiaTensor()[2][0] << " "<< boxBody->getMassInertiaTensor()[2][1] << " "<< boxBody->getMassInertiaTensor()[2][2] << " " << boxBody->getMassInertiaTensor()[2][3] << std::endl
//<< boxBody->getMassInertiaTensor()[3][0] << " "<< boxBody->getMassInertiaTensor()[3][1] << " "<< boxBody->getMassInertiaTensor()[3][2] << " " << boxBody->getMassInertiaTensor()[3][3] << std::endl
//<< std::endl;
PhysicsBoxGeomRefPtr boxGeom = PhysicsBoxGeom::create();
boxGeom->setBody(boxBody);
boxGeom->setSpace(physicsSpace);
boxGeom->setLengths(Lengths);
//add attachments
boxNode->addAttachment(boxGeom);
boxTransNode->addAttachment(boxBody);
boxTransNode->addChild(boxNode);
//add to SceneGraph
spaceGroupNode->addChild(boxTransNode);
commitChanges();
}
//////////////////////////////////////////////////////////////////////////
//! build a box
//////////////////////////////////////////////////////////////////////////
void buildBox(void)
{
Vec3f Lengths(frand()*2.0+0.5, frand()*2.0+0.5, frand()*2.0+0.5);
Matrix m;
//create OpenSG mesh
GeometryPtr box;
NodePtr boxNode = makeBox(Lengths.x(), Lengths.y(), Lengths.z(), 1, 1, 1);
box = GeometryPtr::dcast(boxNode->getCore());
SimpleMaterialPtr box_mat = SimpleMaterial::create();
beginEditCP(box_mat);
box_mat->setAmbient(Color3f(0.0,0.0,0.0));
box_mat->setDiffuse(Color3f(0.0,1.0 ,0.0));
endEditCP(box_mat);
beginEditCP(box, Geometry::MaterialFieldMask);
box->setMaterial(box_mat);
endEditCP(box, Geometry::MaterialFieldMask);
TransformPtr boxTrans;
NodePtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
m.setIdentity();
Real32 randX = frand()*10.0-5.0;
Real32 randY = frand()*10.0-5.0;
m.setTranslate(randX, randY, 10.0);
beginEditCP(boxTrans, Transform::MatrixFieldMask);
boxTrans->setMatrix(m);
endEditCP(boxTrans, Transform::MatrixFieldMask);
//create ODE data
PhysicsBodyPtr boxBody = PhysicsBody::create(physicsWorld);
beginEditCP(boxBody, PhysicsBody::PositionFieldMask);
boxBody->setPosition(Vec3f(randX, randY, 10.0));
endEditCP(boxBody, PhysicsBody::PositionFieldMask);
boxBody->setBoxMass(1.0, Lengths.x(), Lengths.y(), Lengths.z());
PhysicsBoxGeomPtr boxGeom = PhysicsBoxGeom::create();
beginEditCP(boxGeom, PhysicsBoxGeom::BodyFieldMask | PhysicsBoxGeom::SpaceFieldMask | PhysicsBoxGeom::LengthsFieldMask | PhysicsBoxGeom::CategoryBitsFieldMask);
boxGeom->setBody(boxBody);
boxGeom->setSpace(physicsSpace);
boxGeom->setLengths(Lengths);
boxGeom->setCategoryBits(BoxCategory);
endEditCP(boxGeom, PhysicsBoxGeom::BodyFieldMask | PhysicsBoxGeom::SpaceFieldMask | PhysicsBoxGeom::LengthsFieldMask | PhysicsBoxGeom::CategoryBitsFieldMask);
//add attachments
beginEditCP(boxNode, Node::AttachmentsFieldMask);
boxNode->addAttachment(boxGeom);
endEditCP(boxNode, Node::AttachmentsFieldMask);
beginEditCP(boxTransNode, Node::AttachmentsFieldMask | Node::ChildrenFieldMask);
boxTransNode->addAttachment(boxBody);
boxTransNode->addChild(boxNode);
endEditCP(boxTransNode, Node::AttachmentsFieldMask | Node::ChildrenFieldMask);
//add to SceneGraph
beginEditCP(spaceGroupNode, Node::ChildrenFieldMask);
spaceGroupNode->addChild(boxTransNode);
endEditCP(spaceGroupNode, Node::ChildrenFieldMask);
}
float GLGPUDataset::QP(const float X0_[], const float X1_[], int slot) const
{
float X0[3], X1[3];
float N[3];
for (int i=0; i<3; i++) {
X0[i] = (X0_[i] - Origins()[i]) / CellLengths()[i];
X1[i] = (X1_[i] - Origins()[i]) / CellLengths()[i];
N[i] = dims()[i];
}
if (B(slot)[1]>0 && fabs(X1[0]-X0[0])>N[0]/2) {
// TODO
assert(false);
return 0.0;
} else if (fabs(X1[1]-X0[1])>N[1]/2) {
// pbc j
float dj = X1[1] - X0[1];
if (dj > N[1]/2) dj = dj - N[1];
else if (dj < -N[1]/2) dj = dj + N[1];
float dist = fabs(dj);
float dist1 = fabs(fmod1(X0[1] + N[1]/2, N[1]) - N[1]);
float f = dist1/dist;
// pbc k
float dk = X1[2] - X0[2];
if (dk > N[2]/2) dk = dk - N[2];
else if (dk < -N[2]/2) dk = dk + N[2];
float k = fmod1(X0[2] + f*dk, N[2]);
// pbc i
float di = X1[0] - X0[0];
if (di > N[0]/2) di = di - N[0];
else if (di < -N[0]/2) di = di + N[0];
float i = fmod1(X0[0] + f*dk, N[0]);
float sign = dj>0 ? 1 : -1;
float qp = sign * (k*CellLengths()[2]*B(slot)[0]*Lengths()[1] - i*CellLengths()[0]*B(slot)[2]*Lengths()[1]);
return qp;
}
return 0.0;
}
//////////////////////////////////////////////////////////////////////////
//! build a box
//////////////////////////////////////////////////////////////////////////
PhysicsBodyUnrecPtr buildBox(void)
{
Vec3f Lengths((Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0);
Matrix m;
//create OpenSG mesh
GeometryUnrecPtr box;
NodeUnrecPtr boxNode = makeBox(Lengths.x(), Lengths.y(), Lengths.z(), 1, 1, 1);
box = dynamic_cast<Geometry*>(boxNode->getCore());
SimpleMaterialUnrecPtr box_mat = SimpleMaterial::create();
box_mat->setAmbient(Color3f(0.0,0.0,0.0));
box_mat->setDiffuse(Color3f(0.0,1.0 ,0.0));
box->setMaterial(box_mat);
TransformUnrecPtr boxTrans;
NodeUnrecPtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
m.setIdentity();
Real32 randX = (Real32)(rand()%10)-5.0;
Real32 randY = (Real32)(rand()%10)-5.0;
m.setTranslate(randX, randY, 10.0);
boxTrans->setMatrix(m);
//create ODE data
PhysicsBodyUnrecPtr boxBody = PhysicsBody::create(physicsWorld);
boxBody->setPosition(Vec3f(randX, randY, 10.0));
boxBody->setBoxMass(1.0, Lengths.x(), Lengths.y(), Lengths.z());
PhysicsBoxGeomUnrecPtr boxGeom = PhysicsBoxGeom::create();
boxGeom->setBody(boxBody);
boxGeom->setSpace(physicsSpace);
boxGeom->setLengths(Lengths);
//add attachments
boxNode->addAttachment(boxGeom);
boxTransNode->addAttachment(boxBody);
boxTransNode->addChild(boxNode);
//add to SceneGraph
spaceGroupNode->addChild(boxTransNode);
commitChanges();
return boxBody;
}
float GLGPUDataset::QP(const float X0[], const float X1[]) const
{
const float *L = Lengths(),
*O = Origins();
float d[3] = {X1[0] - X0[0], X1[1] - X0[1], X1[2] - X0[2]};
int p[3] = {0}; // 0: not crossed; 1: positive; -1: negative
for (int i=0; i<3; i++) {
d[i] = X1[i] - X0[i];
if (d[i]>L[i]/2) {d[i] -= L[i]; p[i] = 1;}
else if (d[i]<-L[i]/2) {d[i] += L[i]; p[i] = -1;}
}
const float X[3] = {X0[0] - O[0], X0[1] - O[1], X0[2] - O[2]};
if (By()>0 && p[0]!=0) { // By>0
return p[0] * L[0] * (Bz()*X[1] - By()*X[2]);
} else if (p[1]!=0) {
return p[1] * L[1] * (Bx()*X[2] - Bz()*X[0]);
} else return 0.0;
}
