bool SOFM2D::initGrid(const dmatrix& data) {
bool b=true;
int i,j;
const parameters& param=getParameters();
if (param.initType == parameters::Linear) {
//eigenvalues already calculated?
if (eva1==0.) {
varianceFunctor<double> varFunc;
dmatrix cov;
varFunc.covarianceMatrixOfRows(data, cov);
jacobi<double> eigenFunc;
jacobi<double>::parameters jp;
jp.sort=true;
eigenFunc.setParameters(jp);
dvector eva;
dmatrix eve;
b = eigenFunc.apply(cov, eva, eve);
if (b) {
eva1=eva.at(0);
eva2=eva.at(1);
eve1=eve.getColumnCopy(0);
eve2=eve.getColumnCopy(1);
} else {
setStatusString("could not find eigenvalues using random points\n");
selectRandomPoints(data, sizeX*sizeY, grid);
return false;
}
}
meansFunctor<double> meanFunc;
dvector mean;
meanFunc.meanOfRows(data, mean);
double x,y;
dvector deltaX(eve1);
deltaX.multiply(eva1/sizeX);
dvector deltaY(eve2);
deltaY.multiply(eva2/sizeY);
dvector delta;
for (i=0, y=-(double(sizeY-1)); i<sizeY; i++, y++) {
for (j=0, x=-(double(sizeX-1)); j<sizeX; j++, x++) {
delta.addScaled(x,deltaX,y,deltaY);
grid.getRow(i*sizeX+j).add(mean,delta);
}
}
} else {
selectRandomPoints(data, sizeX*sizeY, grid);
}
return b;
}
void
dmz::QtModuleCanvasBasic::_handle_mouse_event (QMouseEvent *me, QWheelEvent *we) {
if (_inputModule && _canvas) {
InputEventMouse event (_mouseEvent);
QPoint pointOnCanvas (event.get_mouse_x (), event.get_mouse_y ());
QPoint pointOnScreen (event.get_mouse_screen_x (), event.get_mouse_screen_y ());
Qt::MouseButtons buttons;
if (me) {
pointOnCanvas = _canvas->mapFrom (this, me->pos ());
pointOnScreen = me->globalPos ();
buttons = me->buttons ();
}
else if (we) {
pointOnCanvas = _canvas->mapFrom (this, we->pos ());
pointOnScreen = we->globalPos ();
buttons = we->buttons ();
}
event.set_mouse_position (pointOnCanvas.x (), pointOnCanvas.y ());
event.set_mouse_screen_position (pointOnScreen.x (), pointOnScreen.y ());
UInt32 mask (0);
if (buttons & Qt::LeftButton) { mask |= 0x01 << 0; }
if (buttons & Qt::RightButton) { mask |= 0x01 << 1; }
if (buttons & Qt::MidButton) { mask |= 0x01 << 2; }
event.set_button_mask (mask);
Int32 deltaX (0), deltaY (0);
if (we) {
if (we->orientation () == Qt::Vertical) { deltaY = we->delta (); }
else if (we->orientation () == Qt::Horizontal) { deltaX = we->delta (); }
}
event.set_scroll_delta (deltaX, deltaY);
event.set_window_size (width (), height ());
if (_mouseEvent.update (event)) {
_inputModule->send_mouse_event (_mouseEvent);
}
}
}
Pyramid()
{
{
b2::BodyDef bd;
b2::Body* ground = m_world->CreateBody(&bd);
b2::EdgeShape shape;
shape.Set(b2::Vec2(-40.0f, 0.0f), b2::Vec2(40.0f, 0.0f));
ground->CreateFixture(&shape, 0.0f);
}
{
b2::float32 a = 0.5f;
b2::PolygonShape shape;
shape.SetAsBox(a, a);
b2::Vec2 x(-7.0f, 0.75f);
b2::Vec2 y;
b2::Vec2 deltaX(0.5625f, 1.25f);
b2::Vec2 deltaY(1.125f, 0.0f);
for (b2::int32 i = 0; i < e_count; ++i)
{
y = x;
for (b2::int32 j = i; j < e_count; ++j)
{
b2::BodyDef bd;
bd.type = b2::dynamicBody;
bd.position = y;
b2::Body* body = m_world->CreateBody(&bd);
body->CreateFixture(&shape, 5.0f);
y += deltaY;
}
x += deltaX;
}
}
}
void ZViewpoint::zviewpointHandleMsgFly( ZMsg *msg ) {
static float viewpointMouseLast[2];
static int dragging = 0;
float newzviewpointScale = 0.f;
int scaleChange = 0;
if( (zmsgIs(type,ZUIMouseClickOn) || zmsgIs(type,MouseClick)) && zmsgIs(dir,D) && (zmsgIs(which,R) || zmsgIs(which,M)) && zmsgI(shift) && zmsgI(ctrl) && zmsgI(alt) ) {
// RESET
memset( &zviewpointTrans, 0, sizeof(zviewpointTrans) );
zviewpointRotQuat.fromAxisAngle( FVec3::XAxis, 0.f );
zviewpointScale = 1.f;
}
char button = msg->getS( "which", "X" ) [0];
// if( (zmsgIs(type,ZUIMouseClickOn) || zmsgIs(type,MouseClick)) && zmsgIs(dir,D) && zmsgIs(which,M) ) {
if( (zmsgIs(type,ZUIMouseClickOn) || zmsgIs(type,MouseClick)) && zmsgIs(dir,D) && button==zviewpointRotateButton ) {
dragging = zMouseMsgRequestExclusiveDrag( "type=Viewpoint_MouseDrag" );
}
if( zmsgIs(type,Viewpoint_MouseDrag) ) {
if( zmsgI(releaseDrag) ) {
zMouseMsgCancelExclusiveDrag();
}
else {
int _deltaX = zMouseMsgX - zMouseMsgLastX;
int _deltaY = zMouseMsgY - zMouseMsgLastY;
FQuat deltaX( FVec3::XAxis, -0.01f * _deltaX );
FQuat deltaY( FVec3::YAxis, +0.01f * _deltaY );
FQuat deltaZ;
deltaX.mul( zviewpointRotQuat );
deltaY.mul( deltaX );
deltaZ.mul( deltaY );
zviewpointRotQuat = deltaZ;
}
}
}
void ZViewpoint::zviewpointRotateTrackball( float dx, float dy, float side ) {
// ROTATE: this was originally in the message handler for trackball mode
// reponse to mouse drag. I factored out to here so that I can call this
// code in response to arrow keys to step-rotate the object about a given
// axis. (tfb)
// COMPUTE the world axises about which we are spinning (i.e. the screen axis)
FMat4 ref( zviewpointReferenceModel.m );
FMat4 rot = zviewpointRotQuat.mat();
rot.transpose();
ref.cat( rot );
ref.setTrans( FVec3::Origin );
ref.orthoNormalize();
ref.inverse();
// ref is now the transform that will take a point in eye-coordinates and
// transform it to its original pre-viewing-transform world coordinates. tfb
FVec3 xEye = ref.mul( FVec3::XAxis );
FVec3 yEye = ref.mul( FVec3::YAxis );
FVec3 zEye = ref.mul( FVec3::ZAxis );
FQuat deltaX( xEye, dy );
if( !zviewpointPermitRotX ) deltaX.identity();
FQuat deltaY( yEye, dx );
if( !zviewpointPermitRotY ) deltaY.identity();
FQuat deltaZ;
if( side != 0 ) {
deltaX.identity();
deltaY.identity();
deltaZ.fromAxisAngle( zEye, side * -dy );
}
if( !zviewpointPermitRotZ ) deltaZ.identity();
// QUATERNION multiply the delta by the origial to get the new
deltaX.mul( zviewpointRotQuat );
deltaY.mul( deltaX );
deltaZ.mul( deltaY );
zviewpointRotQuat = deltaZ;
}
void Planar2D::initPhysics()
{
m_guiHelper->setUpAxis(1);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_simplexSolver = new btVoronoiSimplexSolver();
m_pdSolver = new btMinkowskiPenetrationDepthSolver();
m_convexAlgo2d = new btConvex2dConvex2dAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
m_box2dbox2dAlgo = new btBox2dBox2dCollisionAlgorithm::CreateFunc();
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,m_convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,m_convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,m_convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,m_box2dbox2dAlgo);
m_broadphase = new btDbvtBroadphase();
//m_broadphase = new btSimpleBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getSolverInfo().m_erp = 1.f;
//m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.),btScalar(50.),btScalar(150.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-43,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btScalar u= btScalar(1*SCALING-0.04);
btVector3 points[3] = {btVector3(0,u,0),btVector3(-u,-u,0),btVector3(u,-u,0)};
btConvexShape* childShape0 = new btBoxShape(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04)));
btConvexShape* colShape= new btConvex2dShape(childShape0);
//btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.04));
btConvexShape* childShape1 = new btConvexHullShape(&points[0].getX(),3);
btConvexShape* colShape2= new btConvex2dShape(childShape1);
btConvexShape* childShape2 = new btCylinderShapeZ(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04)));
btConvexShape* colShape3= new btConvex2dShape(childShape2);
m_collisionShapes.push_back(colShape);
m_collisionShapes.push_back(colShape2);
m_collisionShapes.push_back(colShape3);
m_collisionShapes.push_back(childShape0);
m_collisionShapes.push_back(childShape1);
m_collisionShapes.push_back(childShape2);
//btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
colShape->setMargin(btScalar(0.03));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
// float start_x = START_POS_X - ARRAY_SIZE_X/2;
// float start_y = START_POS_Y;
// float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
btVector3 x(-ARRAY_SIZE_X, 8.0f,-20.f);
btVector3 y;
btVector3 deltaX(SCALING*1, SCALING*2,0.f);
btVector3 deltaY(SCALING*2, 0.0f,0.f);
for (int i = 0; i < ARRAY_SIZE_X; ++i)
{
y = x;
for (int j = i; j < ARRAY_SIZE_Y; ++j)
{
startTransform.setOrigin(y-btVector3(-10,0,0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(0,0,0);
switch (j%3)
{
#if 1
case 0:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape,localInertia);
break;
case 1:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
break;
#endif
default:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape2,localInertia);
}
btRigidBody* body = new btRigidBody(rbInfo);
//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
body->setActivationState(ISLAND_SLEEPING);
body->setLinearFactor(btVector3(1,1,0));
body->setAngularFactor(btVector3(0,0,1));
m_dynamicsWorld->addRigidBody(body);
body->setActivationState(ISLAND_SLEEPING);
// y += -0.8*deltaY;
y += deltaY;
}
x += deltaX;
}
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
/**
* Update all object positions. Process object 'local' events
* including boundary events and collisions
*/
void ObjectHandler_v1d::moveObjects() {
debugC(4, kDebugObject, "moveObjects");
// Added to DOS version in order to handle mouse properly
// Do special route processing
_vm->_route->processRoute();
// Perform any adjustments to velocity based on special path types
// and store all (visible) object baselines into the boundary file.
// Don't store foreground or background objects
for (int i = 0; i < _numObj; i++) {
object_t *obj = &_objects[i]; // Get pointer to object
seq_t *currImage = obj->currImagePtr; // Get ptr to current image
if (obj->screenIndex == *_vm->_screen_p) {
switch (obj->pathType) {
case kPathChase: {
// Allowable motion wrt boundary
int dx = _vm->_hero->x + _vm->_hero->currImagePtr->x1 - obj->x - currImage->x1;
int dy = _vm->_hero->y + _vm->_hero->currImagePtr->y2 - obj->y - currImage->y2 - 1;
if (abs(dx) <= 1)
obj->vx = 0;
else
obj->vx = (dx > 0) ? MIN(dx, obj->vxPath) : MAX(dx, -obj->vxPath);
if (abs(dy) <= 1)
obj->vy = 0;
else
obj->vy = (dy > 0) ? MIN(dy, obj->vyPath) : MAX(dy, -obj->vyPath);
// Set first image in sequence (if multi-seq object)
if (obj->seqNumb == 4) {
if (!obj->vx) { // Got 4 directions
if (obj->vx != obj->oldvx) {// vx just stopped
if (dy > 0)
obj->currImagePtr = obj->seqList[DOWN].seqPtr;
else
obj->currImagePtr = obj->seqList[_UP].seqPtr;
}
} else if (obj->vx != obj->oldvx) {
if (dx > 0)
obj->currImagePtr = obj->seqList[RIGHT].seqPtr;
else
obj->currImagePtr = obj->seqList[LEFT].seqPtr;
}
}
if (obj->vx || obj->vy) {
if (obj->seqNumb > 1)
obj->cycling = kCycleForward;
} else {
obj->cycling = kCycleNotCycling;
boundaryCollision(obj); // Must have got hero!
}
obj->oldvx = obj->vx;
obj->oldvy = obj->vy;
currImage = obj->currImagePtr; // Get (new) ptr to current image
break;
}
case kPathWander:
if (!_vm->_rnd->getRandomNumber(3 * _vm->_normalTPS)) { // Kick on random interval
obj->vx = _vm->_rnd->getRandomNumber(obj->vxPath << 1) - obj->vxPath;
obj->vy = _vm->_rnd->getRandomNumber(obj->vyPath << 1) - obj->vyPath;
// Set first image in sequence (if multi-seq object)
if (obj->seqNumb > 1) {
if (!obj->vx && (obj->seqNumb > 2)) {
if (obj->vx != obj->oldvx) { // vx just stopped
if (obj->vy > 0)
obj->currImagePtr = obj->seqList[DOWN].seqPtr;
else
obj->currImagePtr = obj->seqList[_UP].seqPtr;
}
} else if (obj->vx != obj->oldvx) {
if (obj->vx > 0)
obj->currImagePtr = obj->seqList[RIGHT].seqPtr;
else
obj->currImagePtr = obj->seqList[LEFT].seqPtr;
}
if (obj->vx || obj->vy)
obj->cycling = kCycleForward;
else
obj->cycling = kCycleNotCycling;
}
obj->oldvx = obj->vx;
obj->oldvy = obj->vy;
currImage = obj->currImagePtr; // Get (new) ptr to current image
}
break;
default:
; // Really, nothing
}
// Store boundaries
if ((obj->cycling > kCycleAlmostInvisible) && (obj->priority == kPriorityFloating))
storeBoundary(obj->x + currImage->x1, obj->x + currImage->x2, obj->y + currImage->y2);
}
}
// Move objects, allowing for boundaries
for (int i = 0; i < _numObj; i++) {
object_t *obj = &_objects[i]; // Get pointer to object
if ((obj->screenIndex == *_vm->_screen_p) && (obj->vx || obj->vy)) {
// Only process if it's moving
// Do object movement. Delta_x,y return allowed movement in x,y
// to move as close to a boundary as possible without crossing it.
seq_t *currImage = obj->currImagePtr; // Get ptr to current image
// object coordinates
int x1 = obj->x + currImage->x1; // Left edge of object
int x2 = obj->x + currImage->x2; // Right edge
int y1 = obj->y + currImage->y1; // Top edge
int y2 = obj->y + currImage->y2; // Bottom edge
if ((obj->cycling > kCycleAlmostInvisible) && (obj->priority == kPriorityFloating))
clearBoundary(x1, x2, y2); // Clear our own boundary
// Allowable motion wrt boundary
int dx = deltaX(x1, x2, obj->vx, y2);
if (dx != obj->vx) {
// An object boundary collision!
boundaryCollision(obj);
obj->vx = 0;
}
int dy = deltaY(x1, x2, obj->vy, y2);
if (dy != obj->vy) {
// An object boundary collision!
boundaryCollision(obj);
obj->vy = 0;
}
if ((obj->cycling > kCycleAlmostInvisible) && (obj->priority == kPriorityFloating))
storeBoundary(x1, x2, y2); // Re-store our own boundary
obj->x += dx; // Update object position
obj->y += dy;
// Don't let object go outside screen
if (x1 < kEdge)
obj->x = kEdge2;
if (x2 > (kXPix - kEdge))
obj->x = kXPix - kEdge2 - (x2 - x1);
if (y1 < kEdge)
obj->y = kEdge2;
if (y2 > (kYPix - kEdge))
obj->y = kYPix - kEdge2 - (y2 - y1);
if ((obj->vx == 0) && (obj->vy == 0))
obj->cycling = kCycleNotCycling;
}
}
// Clear all object baselines from the boundary file.
for (int i = 0; i < _numObj; i++) {
object_t *obj = &_objects[i]; // Get pointer to object
seq_t *currImage = obj->currImagePtr; // Get ptr to current image
if ((obj->screenIndex == *_vm->_screen_p) && (obj->cycling > kCycleAlmostInvisible) && (obj->priority == kPriorityFloating))
clearBoundary(obj->oldx + currImage->x1, obj->oldx + currImage->x2, obj->oldy + currImage->y2);
}
// If maze mode is enabled, do special maze processing
if (_vm->_maze.enabledFl) {
seq_t *currImage = _vm->_hero->currImagePtr;// Get ptr to current image
// hero coordinates
int x1 = _vm->_hero->x + currImage->x1; // Left edge of object
int x2 = _vm->_hero->x + currImage->x2; // Right edge
int y1 = _vm->_hero->y + currImage->y1; // Top edge
int y2 = _vm->_hero->y + currImage->y2; // Bottom edge
_vm->_scheduler->processMaze(x1, x2, y1, y2);
}
}
Real pixelAspectRatio() const { return deltaX() / deltaY(); }
auto distance(Point<PRECISION> p1, Point<PRECISION2> p2) {
return sqrt(pow(deltaX(p1, p2), 2) + pow(deltaY(p1, p2), 2));
}
Point<PRECISION> delta(Point<PRECISION> p1, Point<PRECISION2> p2) {
return {deltaX(p1, p2), deltaY(p1, p2)};
}
void Box2dDemo::initPhysics()
{
m_dialogDynamicsWorld = new GL_DialogDynamicsWorld();
//m_dialogDynamicsWorld->createDialog(100,110,200,50);
//m_dialogDynamicsWorld->createDialog(100,00,100,100);
//m_dialogDynamicsWorld->createDialog(0,0,100,100);
GL_DialogWindow* settings = m_dialogDynamicsWorld->createDialog(50,0,200,120,"Settings");
GL_ToggleControl* toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 1");
toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 2");
toggle ->m_active = true;
toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 3");
//GL_SliderControl* slider = m_dialogDynamicsWorld->createSlider(settings,"Slider");
GL_DialogWindow* dialog = m_dialogDynamicsWorld->createDialog(0,200,420,300,"Help");
GL_TextControl* txt = new GL_TextControl;
dialog->addControl(txt);
txt->m_textLines.push_back("Mouse to move");
txt->m_textLines.push_back("Test 2");
txt->m_textLines.push_back("mouse to interact");
txt->m_textLines.push_back("ALT + mouse to move camera");
txt->m_textLines.push_back("space to reset");
txt->m_textLines.push_back("cursor keys and z,x to navigate");
txt->m_textLines.push_back("i to toggle simulation, s single step");
txt->m_textLines.push_back("q to quit");
txt->m_textLines.push_back(". to shoot box");
txt->m_textLines.push_back("d to toggle deactivation");
txt->m_textLines.push_back("g to toggle mesh animation (ConcaveDemo)");
txt->m_textLines.push_back("h to toggle help text");
txt->m_textLines.push_back("o to toggle orthogonal/perspective view");
//txt->m_textLines.push_back("+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
m_cameraTargetPosition.setValue(0,0,0);//0, ARRAY_SIZE_Y, 0);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVoronoiSimplexSolver* simplex = new btVoronoiSimplexSolver();
btMinkowskiPenetrationDepthSolver* pdSolver = new btMinkowskiPenetrationDepthSolver();
btConvex2dConvex2dAlgorithm::CreateFunc* convexAlgo2d = new btConvex2dConvex2dAlgorithm::CreateFunc(simplex,pdSolver);
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc());
m_broadphase = new btDbvtBroadphase();
//m_broadphase = new btSimpleBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getSolverInfo().m_erp = 1.f;
//m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.),btScalar(50.),btScalar(150.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-43,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btScalar u= btScalar(1*SCALING-0.04);
btVector3 points[3] = {btVector3(0,u,0),btVector3(-u,-u,0),btVector3(u,-u,0)};
btConvexShape* childShape0 = new btBoxShape(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04)));
btConvexShape* colShape= new btConvex2dShape(childShape0);
//btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.04));
btConvexShape* childShape1 = new btConvexHullShape(&points[0].getX(),3);
btConvexShape* colShape2= new btConvex2dShape(childShape1);
btConvexShape* childShape2 = new btCylinderShapeZ(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04)));
btConvexShape* colShape3= new btConvex2dShape(childShape2);
m_collisionShapes.push_back(colShape);
m_collisionShapes.push_back(colShape2);
m_collisionShapes.push_back(colShape3);
m_collisionShapes.push_back(childShape0);
m_collisionShapes.push_back(childShape1);
m_collisionShapes.push_back(childShape2);
//btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
colShape->setMargin(btScalar(0.03));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
// float start_x = START_POS_X - ARRAY_SIZE_X/2;
// float start_y = START_POS_Y;
// float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
btVector3 x(-ARRAY_SIZE_X, 8.0f,-20.f);
btVector3 y;
btVector3 deltaX(SCALING*1, SCALING*2,0.f);
btVector3 deltaY(SCALING*2, 0.0f,0.f);
for (int i = 0; i < ARRAY_SIZE_X; ++i)
{
y = x;
for (int j = i; j < ARRAY_SIZE_Y; ++j)
{
startTransform.setOrigin(y-btVector3(-10,0,0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(0,0,0);
switch (j%3)
{
#if 1
case 0:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape,localInertia);
break;
case 1:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
break;
#endif
default:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape2,localInertia);
}
btRigidBody* body = new btRigidBody(rbInfo);
//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
body->setActivationState(ISLAND_SLEEPING);
body->setLinearFactor(btVector3(1,1,0));
body->setAngularFactor(btVector3(0,0,1));
m_dynamicsWorld->addRigidBody(body);
body->setActivationState(ISLAND_SLEEPING);
// y += -0.8*deltaY;
y += deltaY;
}
x += deltaX;
}
}
clientResetScene();
}
//--------------------------------------------------------------------------
//
//--------------------------------------------------------------------------
void AlgWspect::run()
{
#ifdef TIMING_ALG_W_SPECT
int quark_b, quark_e;
int meson_b, meson_m, meson_e, meson_bmp, meson_mmp, meson_emp;
int nucleon_b, nucleon_m, nucleon_e;
int total_b = clock();
int total_e;
#endif
CgArg cg = *cg_arg_p;
char *fname = "run()";
VRB.Func(d_class_name,fname);
// printf("in AlgWspect::run \n");
WspectOutput * output = (WspectOutput *)common_arg->results;
// Set the Lattice pointer
//------------------------------------------------------------------------
Lattice& lat = AlgLattice();
int src_slice = d_arg_p->aots_start;
int src_slice_step = d_arg_p->aots_step;
int src_slice_end = src_slice + src_slice_step * d_arg_p->aots_num;
VRB.Result(d_class_name,fname,"%d %d %d \n",src_slice,src_slice_step, src_slice_end);
for ( ; src_slice < src_slice_end; src_slice += src_slice_step) {
// Calculate quark propagator
//----------------------------------------------------------------------
// Ping: certainly more work here to be done about the desired
// combinations of non-degenerate quarks.
// Presumably, more arguments will have to be passed in.
// One way: for three flavors, [100] means use only q1
// to caculate spectrum.
// Also some care needed to get the scope (CTOR and DTOR)
// of each quark propagator right.
// const WspectQuark & q2 = q;
// const WspectQuark & q3 = q;
// Xiaodong & Thomas:
// Modified to calculate also extended mesons
// q1 is the usual propagator(no source operator), which can be
// used to pass propagation direction and src_slice infomation
// to spectrum class
// there is a problem here --> check !
VRB.Result(d_class_name,fname,"prop_dir = %d , src_slice = %d \n",d_arg_p->prop_dir, src_slice);
WspectHyperRectangle hyperRect(d_arg_p->prop_dir, src_slice);
#ifdef TIMING_ALG_W_SPECT
quark_b = clock();
#endif
VRB.Result(d_class_name,fname,"created quark q1 \n");
// create local quark propagator
WspectQuark q1(lat, output->cg, output->pbp,
output->mid_point, output->a0_p, d_arg_p[0], cg,hyperRect);
VRB.Result(d_class_name,fname,"finished quark q1 \n");
#ifdef TIMING_ALG_W_SPECT
quark_e = clock();
#endif
//Note: for ExtendedMesons, do only zero momentum projection
WspectMomenta mom(hyperRect, q1.SourceCenter2(), d_arg_p->num_mom - 1);
// mom.dumpData();
// Calculate LOCAL meson CORRELATOR
// added control by Thomas and Xiaodong
//----------------------------------------------------------------------
{
#ifdef TIMING_ALG_W_SPECT
meson_b = clock();
#endif
if(d_arg_p->normal_mesons_on) {
WspectMesons mes(q1, q1, hyperRect, mom);
#if 0
q1.dumpData("qprop.dat");
#endif
#ifdef TIMING_ALG_W_SPECT
meson_m = clock();
#endif
//write data to files
mes.print(output);
}
#ifdef TIMING_ALG_W_SPECT
meson_e = clock();
#endif
} //end of normal mesons
// Calculate <\Delta J^5 \bar q1 \gamma^5 q1> with middle point sink
// changed
//----------------------------------------------------------------------
if (lat.Fclass() == F_CLASS_DWF && output->mid_point)
{
#ifdef TIMING_ALG_W_SPECT
meson_bmp = clock();
#endif
WspectMesons mes(q1.Data_SP1(), q1.Data_SP2(), hyperRect, mom);
#ifdef TIMING_ALG_W_SPECT
meson_mmp = clock();
#endif
mes.print_mp(output->mid_point);
#ifdef TIMING_ALG_W_SPECT
meson_emp = clock();
#endif
}
// Calculate nucleon and delta's
//----------------------------------------------------------------------
if (d_arg_p->baryons_on) {
{
#ifdef TIMING_ALG_W_SPECT
nucleon_b = clock();
#endif
WspectBaryon nuc(q1, q1, q1, hyperRect,
WspectBaryon::NUCLEON_CONSTI,
WspectBaryon::NUCLEON_DIRAC);
#ifdef TIMING_ALG_W_SPECT
nucleon_m = clock();
#endif
nuc.print(output->nucleon, output->fold);
#ifdef TIMING_ALG_W_SPECT
nucleon_e = clock();
#endif
}
{
WspectBaryon nucPrime(q1, q1, q1, hyperRect,
WspectBaryon::NUCLEON_CONSTI,
WspectBaryon::UnitUnit);
nucPrime.print(output->nucleon_prime, output->fold);
}
{
WspectBaryon deltaX(q1, q1, q1, hyperRect,
WspectBaryon::DELTA_CONSTI,
WspectBaryon::DELTAX_DIRAC);
deltaX.print(output->delta_x, output->fold);
}
{
WspectBaryon deltaY(q1, q1, q1, hyperRect,
WspectBaryon::DELTA_CONSTI,
WspectBaryon::DELTAY_DIRAC);
deltaY.print(output->delta_y, output->fold);
}
{
WspectBaryon deltaZ(q1, q1, q1, hyperRect,
WspectBaryon::DELTA_CONSTI,
WspectBaryon::DELTAZ_DIRAC);
deltaZ.print(output->delta_z, output->fold);
}
{
WspectBaryon deltaT(q1, q1, q1, hyperRect,
WspectBaryon::DELTA_CONSTI,
WspectBaryon::DELTAT_DIRAC);
deltaT.print(output->delta_t, output->fold);
}
} //end if(baryons_on)
// Increment the counter
d_counter += d_count_step;
} // end of for(sc_slice,..)
#ifdef TIMING_ALG_W_SPECT
total_e = clock();
printf("Total: %d = [%d - %d]\n", total_e - total_b, total_e, total_b);
printf("Quark: %d = [%d - %d]\n", quark_e - quark_b, quark_e, quark_b);
printf("Meson: \t%d = [%d - %d] = \n\tcalc %d = [%d - %d] + \n\tprint %d = [%d - %d]\n",
meson_e - meson_b, meson_e, meson_b,
meson_m - meson_b, meson_m, meson_b,
meson_e - meson_m, meson_e, meson_m);
printf("Nucleon:\t%d = [%d - %d] = \n\tcalc %d = [%d - %d] + \n\tprint %d = [%d - %d]\n",
nucleon_e - nucleon_b, nucleon_e, nucleon_b,
nucleon_m - nucleon_b, nucleon_m, nucleon_b,
nucleon_e - nucleon_m, nucleon_e, nucleon_m);
#endif
VRB.FuncEnd(d_class_name,fname);
}