TEUCHOS_UNIT_TEST(tOrientation, testFaceBasis_tet)
{
out << note << std::endl;
// basis to build patterns from
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisA = rcp(new Intrepid2::Basis_HGRAD_TET_C1_FEM<PHX::exec_space,double,double>);
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisB = rcp(new Intrepid2::Basis_HDIV_TET_I1_FEM<PHX::exec_space,double,double>);
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisC = rcp(new Intrepid2::Basis_HGRAD_TET_C2_FEM<PHX::exec_space,double,double>); // used further down
RCP<const FieldPattern> patternA = rcp(new Intrepid2FieldPattern(basisA));
RCP<const FieldPattern> patternB = rcp(new Intrepid2FieldPattern(basisB));
RCP<const FieldPattern> patternC = rcp(new Intrepid2FieldPattern(basisC)); // used further down
TEST_EQUALITY(patternA->numberIds(),4);
TEST_EQUALITY(patternB->numberIds(),4);
std::vector<std::vector<int> > topFaceIndices;
orientation_helpers::computePatternFaceIndices(*patternA,topFaceIndices);
TEST_EQUALITY(topFaceIndices.size(),4);
TEST_EQUALITY(topFaceIndices[0].size(),3); TEST_EQUALITY(topFaceIndices[0][0],0); TEST_EQUALITY(topFaceIndices[0][1],1); TEST_EQUALITY(topFaceIndices[0][2],3);
TEST_EQUALITY(topFaceIndices[1].size(),3); TEST_EQUALITY(topFaceIndices[1][0],1); TEST_EQUALITY(topFaceIndices[1][1],2); TEST_EQUALITY(topFaceIndices[1][2],3);
TEST_EQUALITY(topFaceIndices[2].size(),3); TEST_EQUALITY(topFaceIndices[2][0],0); TEST_EQUALITY(topFaceIndices[2][1],3); TEST_EQUALITY(topFaceIndices[2][2],2);
TEST_EQUALITY(topFaceIndices[3].size(),3); TEST_EQUALITY(topFaceIndices[3][0],0); TEST_EQUALITY(topFaceIndices[3][1],2); TEST_EQUALITY(topFaceIndices[3][2],1);
// Topologically the first elements look like (shown by looking at each face), note
// that the expected orientation is included as a +/- sign in the element
// //
// 7 7 7 2 //
// / \ / \ / \ / \ //
// / - \ / - \ / + \ / + \ //
// / \ / \ / \ / \ //
// 6 ----- 2 2 ----- 9 9 ----- 6 6 ----- 9 //
// //
// all that matters is the global
// node numbering and the local ordering
// The local ordering is defined by the following connectivity
std::vector<std::vector<long> > connectivity(1);
connectivity[0].resize(patternA->numberIds());
connectivity[0][0] = 6; connectivity[0][1] = 2; connectivity[0][2] = 9; connectivity[0][3] = 7;
{
std::vector<char> orientations(patternB->numberIds(),0);
orientation_helpers::computeCellFaceOrientations(topFaceIndices, connectivity[0], *patternB, orientations);
TEST_EQUALITY(orientations[0],char(-1));
TEST_EQUALITY(orientations[1],char(-1));
TEST_EQUALITY(orientations[2],char(1));
TEST_EQUALITY(orientations[3],char(1));
}
}
void BranchList::calculateOrientations()
{
for (int i = 0; i < mBranches.size(); i++)
{
Eigen::MatrixXd positions = mBranches[i]->getPositions();
Eigen::MatrixXd diff = positions.rightCols(positions.cols() - 1) - positions.leftCols(positions.cols() - 1);
Eigen::MatrixXd orientations(positions.rows(),positions.cols());
orientations.leftCols(orientations.cols() - 1) = diff / diff.norm();
orientations.rightCols(1) = orientations.col(orientations.cols() - 1);
mBranches[i]->setOrientations(orientations);
}
}
void TestCreateVertexElement()
{
// Make 8 nodes to assign to a cube element
std::vector<Node<3>*> nodes;
nodes.push_back(new Node<3>(0, false, 0.0, 0.0, 0.0));
nodes.push_back(new Node<3>(1, false, 1.0, 0.0, 0.0));
nodes.push_back(new Node<3>(2, false, 0.0, 1.0, 0.0));
nodes.push_back(new Node<3>(3, false, 0.0, 0.0, 1.0));
nodes.push_back(new Node<3>(4, false, 1.0, 1.0, 0.0));
nodes.push_back(new Node<3>(5, false, 0.0, 1.0, 1.0));
nodes.push_back(new Node<3>(6, false, 1.0, 0.0, 1.0));
nodes.push_back(new Node<3>(7, false, 1.0, 1.0, 1.0));
std::vector<Node<3>*> nodes_face_0, nodes_face_1, nodes_face_2, nodes_face_3, nodes_face_4, nodes_face_5;
// Make 6 square faces out of these nodes
nodes_face_0.push_back(nodes[0]);
nodes_face_0.push_back(nodes[2]);
nodes_face_0.push_back(nodes[4]);
nodes_face_0.push_back(nodes[1]);
nodes_face_1.push_back(nodes[4]);
nodes_face_1.push_back(nodes[7]);
nodes_face_1.push_back(nodes[5]);
nodes_face_1.push_back(nodes[2]);
nodes_face_2.push_back(nodes[7]);
nodes_face_2.push_back(nodes[6]);
nodes_face_2.push_back(nodes[1]);
nodes_face_2.push_back(nodes[4]);
nodes_face_3.push_back(nodes[0]);
nodes_face_3.push_back(nodes[3]);
nodes_face_3.push_back(nodes[5]);
nodes_face_3.push_back(nodes[2]);
nodes_face_4.push_back(nodes[1]);
nodes_face_4.push_back(nodes[6]);
nodes_face_4.push_back(nodes[3]);
nodes_face_4.push_back(nodes[0]);
nodes_face_5.push_back(nodes[7]);
nodes_face_5.push_back(nodes[6]);
nodes_face_5.push_back(nodes[3]);
nodes_face_5.push_back(nodes[5]);
std::vector<VertexElement<2,3>*> faces;
faces.push_back(new VertexElement<2,3>(0, nodes_face_0));
faces.push_back(new VertexElement<2,3>(1, nodes_face_1));
faces.push_back(new VertexElement<2,3>(2, nodes_face_2));
faces.push_back(new VertexElement<2,3>(3, nodes_face_3));
faces.push_back(new VertexElement<2,3>(4, nodes_face_4));
faces.push_back(new VertexElement<2,3>(5, nodes_face_5));
std::vector<bool> orientations(faces.size());
for (unsigned i=0; i<faces.size(); i++)
{
orientations[i] = true;
}
// Make a cube element out of these faces
VertexElement<3,3> element(0, faces, orientations);
TS_ASSERT_EQUALS(element.GetNumNodes(), 8u);
TS_ASSERT_EQUALS(element.GetNumFaces(), 6u);
TS_ASSERT_EQUALS(element.GetIndex(), 0u);
// Test the position of some random nodes
TS_ASSERT_DELTA(element.GetFace(0)->GetNode(0)->rGetLocation()[0], 0.0, 1e-6);
TS_ASSERT_DELTA(element.GetFace(0)->GetNode(0)->rGetLocation()[1], 0.0, 1e-6);
TS_ASSERT_DELTA(element.GetFace(0)->GetNode(0)->rGetLocation()[2], 0.0, 1e-6);
TS_ASSERT_DELTA(element.GetFace(5)->GetNode(2)->rGetLocation()[0], 0.0, 1e-6);
TS_ASSERT_DELTA(element.GetFace(5)->GetNode(2)->rGetLocation()[1], 0.0, 1e-6);
TS_ASSERT_DELTA(element.GetFace(5)->GetNode(2)->rGetLocation()[2], 1.0, 1e-6);
// Test orientations
for (unsigned face_index=0; face_index<element.GetNumFaces(); face_index++)
{
TS_ASSERT_EQUALS(element.FaceIsOrientatedClockwise(face_index), true);
}
// Tidy up
for (unsigned i=0; i<nodes.size(); i++)
{
delete nodes[i];
}
for (unsigned i=0; i<faces.size(); i++)
{
delete faces[i];
}
}
void ofApp::update(){
openNI.update();
if(openNI.isNewFrame()) {
ofxOscBundle bundle;
int deviceId = openNI.getDeviceID();
int numTrackedUsers = openNI.getNumTrackedUsers();
for(int userIndex = 0; userIndex < numTrackedUsers; userIndex++) {
ofxOpenNIUser& user = openNI.getTrackedUser(userIndex);
if(user.isTracking() && user.isSkeleton()) {
ofxOscMessage msg;
msg.setAddress("/ram/skeleton");
int userId = user.getXnID();
string actorName = "OpenNI " + ofToString(userId) + " @" + ofToString(deviceId);
int numJoints = user.getNumJoints();
msg.addStringArg(actorName);
msg.addIntArg(RAM_JOINT_COUNT);
// should use accelerometer to right things
// or a custom slider to position people
float floorOffset = 0;
vector<ofVec3f> positions(JOINT_COUNT);
for(int openniIndex = 0; openniIndex < JOINT_COUNT; openniIndex++) {
ofxOpenNIJoint& joint = user.getJoint((Joint) openniIndex);
positions[openniIndex] = joint.getWorldPosition();
positions[openniIndex].x *= -1; // openni is mirrored left/right
if(openniIndex == 0 || positions[openniIndex].y < floorOffset) {
floorOffset = positions[openniIndex].y;
}
}
vector<ofQuaternion> orientations(JOINT_COUNT);
ofVec3f torsoToNeck = positions[JOINT_NECK] - positions[JOINT_TORSO];
ofVec3f torsoToLeftHip = positions[JOINT_LEFT_HIP] - positions[JOINT_TORSO];
ofVec3f torsoToRightHip = positions[JOINT_RIGHT_HIP] - positions[JOINT_TORSO];
ofVec3f neckToTorso = positions[JOINT_TORSO] - positions[JOINT_NECK];
ofVec3f neckToRightShoulder = positions[JOINT_RIGHT_SHOULDER] - positions[JOINT_NECK];
ofVec3f headToNeck = positions[JOINT_NECK] - positions[JOINT_HEAD];
ofVec3f leftShoulderToLeftElbow = positions[JOINT_LEFT_ELBOW] - positions[JOINT_LEFT_SHOULDER];
ofVec3f leftElbowToLeftHand = positions[JOINT_LEFT_HAND] - positions[JOINT_LEFT_ELBOW];
ofVec3f rightShoulderToRightElbow = positions[JOINT_RIGHT_ELBOW] - positions[JOINT_RIGHT_SHOULDER];
ofVec3f rightElbowToRightHand = positions[JOINT_RIGHT_HAND] - positions[JOINT_RIGHT_ELBOW];
ofVec3f leftHipToLeftKnee = positions[JOINT_LEFT_KNEE] - positions[JOINT_LEFT_HIP];
ofVec3f leftKneeToLeftFoot = positions[JOINT_LEFT_FOOT] - positions[JOINT_LEFT_KNEE];
ofVec3f rightHipToRightKnee = positions[JOINT_RIGHT_KNEE] - positions[JOINT_RIGHT_HIP];
ofVec3f rightKneeToRightFoot = positions[JOINT_RIGHT_FOOT] - positions[JOINT_RIGHT_KNEE];
orientations[JOINT_TORSO] = makeRotate(torsoToNeck, torsoToRightHip);
orientations[JOINT_NECK] = makeRotate(neckToTorso, neckToRightShoulder);
orientations[JOINT_HEAD] = makeRotate(headToNeck, neckToRightShoulder);
orientations[JOINT_LEFT_SHOULDER] = makeRotate(leftShoulderToLeftElbow, neckToRightShoulder);
orientations[JOINT_LEFT_ELBOW] = makeRotate(leftElbowToLeftHand, leftShoulderToLeftElbow);
orientations[JOINT_LEFT_HAND] = orientations[JOINT_LEFT_ELBOW];
orientations[JOINT_RIGHT_SHOULDER] = makeRotate(rightShoulderToRightElbow, neckToRightShoulder);
orientations[JOINT_RIGHT_ELBOW] = makeRotate(rightElbowToRightHand, rightShoulderToRightElbow);
orientations[JOINT_RIGHT_HAND] = orientations[JOINT_RIGHT_ELBOW];
orientations[JOINT_LEFT_HIP] = makeRotate(leftHipToLeftKnee, torsoToLeftHip);
orientations[JOINT_LEFT_KNEE] = makeRotate(leftKneeToLeftFoot, leftHipToLeftKnee);
orientations[JOINT_LEFT_FOOT] = orientations[JOINT_LEFT_KNEE];
orientations[JOINT_RIGHT_HIP] = makeRotate(rightHipToRightKnee, torsoToRightHip);
orientations[JOINT_RIGHT_KNEE] = makeRotate(rightKneeToRightFoot, rightHipToRightKnee);
orientations[JOINT_RIGHT_FOOT] = orientations[JOINT_RIGHT_KNEE];
for(int ramIndex = 0; ramIndex < RAM_JOINT_COUNT; ramIndex++) {
int openniIndex = jointMapping[ramIndex];
ofVec3f position = positions[openniIndex]; // process a copy
position -= openniCenter;
position.y -= floorOffset;
position *= ramScale;
msg.addStringArg(ramJointName[ramIndex]);
msg.addFloatArg(position.x);
msg.addFloatArg(position.y);
msg.addFloatArg(position.z);
// send zero orientation
ofQuaternion& orientation = orientations[openniIndex];
ofVec3f axis;
float angle;
orientation.getRotate(angle, axis);
msg.addFloatArg(angle);
msg.addFloatArg(axis.x);
msg.addFloatArg(axis.y);
msg.addFloatArg(axis.z);
}
msg.addFloatArg(ofGetElapsedTimef());
bundle.addMessage(msg);
}
}
osc.sendBundle(bundle);
}
}
TEUCHOS_UNIT_TEST(tOrientation, testEdgeBasis_tri)
{
out << note << std::endl;
// basis to build patterns from
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisA = rcp(new Intrepid2::Basis_HGRAD_TRI_C1_FEM<PHX::exec_space,double,double>);
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisB = rcp(new Intrepid2::Basis_HCURL_TRI_I1_FEM<PHX::exec_space,double,double>);
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisC = rcp(new Intrepid2::Basis_HGRAD_TRI_C2_FEM<PHX::exec_space,double,double>); // used further down
RCP<const FieldPattern> patternA = rcp(new Intrepid2FieldPattern(basisA));
RCP<const FieldPattern> patternB = rcp(new Intrepid2FieldPattern(basisB));
RCP<const FieldPattern> patternC = rcp(new Intrepid2FieldPattern(basisC)); // used further down
TEST_EQUALITY(patternA->numberIds(),3);
TEST_EQUALITY(patternB->numberIds(),3);
std::vector<std::pair<int,int> > topEdgeIndices;
orientation_helpers::computePatternEdgeIndices(*patternA,topEdgeIndices);
TEST_EQUALITY(topEdgeIndices.size(),3);
TEST_EQUALITY(topEdgeIndices[0].first,0); TEST_EQUALITY(topEdgeIndices[0].second,1);
TEST_EQUALITY(topEdgeIndices[1].first,1); TEST_EQUALITY(topEdgeIndices[1].second,2);
TEST_EQUALITY(topEdgeIndices[2].first,2); TEST_EQUALITY(topEdgeIndices[2].second,0);
std::vector<std::vector<long> > connectivity(4);
connectivity[0].resize(patternA->numberIds());
connectivity[1].resize(patternA->numberIds());
connectivity[2].resize(patternA->numberIds());
connectivity[3].resize(patternA->numberIds());
// Topologocally the four elements look like:
//
// 3-----1
// |\ /|
// | \ / |
// | 6 |
// | / \ |
// |/ \|
// 5-----0
//
// all that matters is the global
// node numbering and the local ordering
// The local ordering is defined by the following connectivity
connectivity[0][0] = 0; connectivity[0][1] = 6; connectivity[0][2] = 5;
connectivity[1][0] = 6; connectivity[1][1] = 0; connectivity[1][2] = 1;
connectivity[2][0] = 1; connectivity[2][1] = 3; connectivity[2][2] = 6;
connectivity[3][0] = 3; connectivity[3][1] = 5; connectivity[3][2] = 6;
// LOCAL element orientations are always set so that they flow in the positive
// direction along an edge from node 0 to node 1. As a result if the GID of
// node 0 is larger then node 1 then the GLOBAL orientation is -1 (and positive
// otherwise. The local definition of the edge direction is defined by
// the shards cell topology.
{
std::vector<char> orientations(patternB->numberIds(),0);
orientation_helpers::computeCellEdgeOrientations(topEdgeIndices, connectivity[0], *patternB, orientations);
TEST_EQUALITY(orientations[0],char(1));
TEST_EQUALITY(orientations[1],char(-1));
TEST_EQUALITY(orientations[2],char(-1));
}
{
std::vector<char> orientations(patternB->numberIds(),0);
orientation_helpers::computeCellEdgeOrientations(topEdgeIndices, connectivity[1], *patternB, orientations);
TEST_EQUALITY(orientations[0],char(-1));
TEST_EQUALITY(orientations[1],char(1));
TEST_EQUALITY(orientations[2],char(1));
}
{
std::vector<char> orientations(patternB->numberIds(),0);
orientation_helpers::computeCellEdgeOrientations(topEdgeIndices, connectivity[2], *patternB, orientations);
TEST_EQUALITY(orientations[0],char(1));
TEST_EQUALITY(orientations[1],char(1));
TEST_EQUALITY(orientations[2],char(-1));
}
{
std::vector<char> orientations(patternB->numberIds(),0);
orientation_helpers::computeCellEdgeOrientations(topEdgeIndices, connectivity[3], *patternB, orientations);
TEST_EQUALITY(orientations[0],char(1));
TEST_EQUALITY(orientations[1],char(1));
TEST_EQUALITY(orientations[2],char(-1));
}
// lets now test an aggregate basis
std::vector<std::pair<int,Teuchos::RCP<const FieldPattern> > > patterns;
patterns.push_back(std::make_pair(0,patternB));
patterns.push_back(std::make_pair(1,patternC));
patterns.push_back(std::make_pair(2,patternA));
Teuchos::RCP<const FieldPattern> aggPattern = Teuchos::rcp(new FieldAggPattern(patterns));
std::vector<char> orientations(aggPattern->numberIds(),0);
orientation_helpers::computeCellEdgeOrientations(topEdgeIndices, connectivity[2], *aggPattern, orientations);
int nonzeroCount = 0;
for(std::size_t s=0;s<orientations.size();s++)
nonzeroCount += orientations[s]*orientations[s]; // should be +1 only if it is an edge
TEST_EQUALITY(nonzeroCount,6);
// loop over edges
char tests[] = { 1,1,-1}; // for element 2
for(std::size_t e=0;e<3;e++) {
const std::vector<int> & edgeIndices = aggPattern->getSubcellIndices(1,e);
for(std::size_t s=0;s<edgeIndices.size();s++)
TEST_EQUALITY(orientations[edgeIndices[s]],tests[e]);
}
}
TEUCHOS_UNIT_TEST(tOrientation, testFaceBasis_hex)
{
out << note << std::endl;
// basis to build patterns from
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisA = rcp(new Intrepid2::Basis_HGRAD_HEX_C1_FEM<PHX::exec_space,double,double>);
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisB = rcp(new Intrepid2::Basis_HDIV_HEX_I1_FEM<PHX::exec_space,double,double>);
RCP<Intrepid2::Basis<PHX::exec_space,double,double> > basisC = rcp(new Intrepid2::Basis_HGRAD_HEX_C2_FEM<PHX::exec_space,double,double>); // used further down
RCP<const FieldPattern> patternA = rcp(new Intrepid2FieldPattern(basisA));
RCP<const FieldPattern> patternB = rcp(new Intrepid2FieldPattern(basisB));
RCP<const FieldPattern> patternC = rcp(new Intrepid2FieldPattern(basisC)); // used further down
TEST_EQUALITY(patternA->numberIds(),8);
TEST_EQUALITY(patternB->numberIds(),6);
std::vector<std::vector<int> > topFaceIndices;
orientation_helpers::computePatternFaceIndices(*patternA,topFaceIndices);
// this checks to ensure that each face is oriented in a counter clockwise direction
TEST_EQUALITY(topFaceIndices.size(),6);
TEST_EQUALITY(topFaceIndices[0].size(),4);
TEST_EQUALITY(topFaceIndices[0][0],0); TEST_EQUALITY(topFaceIndices[0][1],1); TEST_EQUALITY(topFaceIndices[0][2],5); TEST_EQUALITY(topFaceIndices[0][3],4);
TEST_EQUALITY(topFaceIndices[1].size(),4);
TEST_EQUALITY(topFaceIndices[1][0],1); TEST_EQUALITY(topFaceIndices[1][1],2); TEST_EQUALITY(topFaceIndices[1][2],6); TEST_EQUALITY(topFaceIndices[1][3],5);
TEST_EQUALITY(topFaceIndices[2].size(),4);
TEST_EQUALITY(topFaceIndices[2][0],2); TEST_EQUALITY(topFaceIndices[2][1],3); TEST_EQUALITY(topFaceIndices[2][2],7); TEST_EQUALITY(topFaceIndices[2][3],6);
TEST_EQUALITY(topFaceIndices[3].size(),4);
TEST_EQUALITY(topFaceIndices[3][0],0); TEST_EQUALITY(topFaceIndices[3][1],4); TEST_EQUALITY(topFaceIndices[3][2],7); TEST_EQUALITY(topFaceIndices[3][3],3);
TEST_EQUALITY(topFaceIndices[4].size(),4);
TEST_EQUALITY(topFaceIndices[4][0],0); TEST_EQUALITY(topFaceIndices[4][1],3); TEST_EQUALITY(topFaceIndices[4][2],2); TEST_EQUALITY(topFaceIndices[4][3],1);
TEST_EQUALITY(topFaceIndices[5].size(),4);
TEST_EQUALITY(topFaceIndices[5][0],4); TEST_EQUALITY(topFaceIndices[5][1],5); TEST_EQUALITY(topFaceIndices[5][2],6); TEST_EQUALITY(topFaceIndices[5][3],7);
// Topologically the first elements look like (shown by looking at each face), note
// that the expected orientation is included as a +/- sign in the element
//
// 0 ----- 8 8 ----- 9 9 ----- 1
// | | | | | |
// | + | | + | | - |
// | | | | | |
// 5 ----- 2 2 ----- 6 6 ----- 7
//
// 1 ----- 0 5 ----- 2 1 ----- 9
// | | | | | |
// | + | | + | | - |
// | | | | | |
// 7 ----- 5 7 ----- 6 0 ----- 8
//
// all that matters is the global
// node numbering and the local ordering
// The local ordering is defined by the following connectivity
std::vector<std::vector<long> > connectivity(1);
connectivity[0].resize(patternA->numberIds());
connectivity[0][0] = 5; connectivity[0][1] = 2; connectivity[0][2] = 6; connectivity[0][3] = 7;
connectivity[0][4] = 0; connectivity[0][5] = 8; connectivity[0][6] = 9; connectivity[0][7] = 1;
{
std::vector<char> orientations(patternB->numberIds(),0);
orientation_helpers::computeCellFaceOrientations(topFaceIndices, connectivity[0], *patternB, orientations);
TEST_EQUALITY(orientations[0],char(1));
TEST_EQUALITY(orientations[1],char(1));
TEST_EQUALITY(orientations[2],char(-1));
TEST_EQUALITY(orientations[3],char(1));
TEST_EQUALITY(orientations[4],char(1));
TEST_EQUALITY(orientations[5],char(-1));
}
}
