void RichTextEditor::on_qaImage_triggered() {
QPair<QByteArray, QImage> choice = g.mw->openImageFile();
QByteArray &qba = choice.first;
if (qba.isEmpty())
return;
if ((g.uiImageLength > 0) && (qba.length() > g.uiImageLength)) {
QMessageBox::warning(this, tr("Failed to load image"), tr("Image file too large to embed in document. Please use images smaller than %1 kB.").arg(g.uiImageLength /1024));
return;
}
QBuffer qb(&qba);
qb.open(QIODevice::ReadOnly);
QByteArray format = QImageReader::imageFormat(&qb);
qb.close();
qteRichText->insertHtml(Log::imageToImg(format, qba));
}
int ElastomericBearing2d::getResponse(int responseID, Information &eleInfo)
{
double kGeo1, MpDelta1, MpDelta2, MpDelta3;
switch (responseID) {
case 1: // global forces
return eleInfo.setVector(this->getResistingForce());
case 2: // local forces
theVector.Zero();
// determine resisting forces in local system
theVector = Tlb^qb;
// add P-Delta moments
kGeo1 = 0.5*qb(0);
MpDelta1 = kGeo1*(ul(4)-ul(1));
theVector(2) += MpDelta1;
theVector(5) += MpDelta1;
MpDelta2 = kGeo1*shearDistI*L*ul(2);
theVector(2) += MpDelta2;
theVector(5) -= MpDelta2;
MpDelta3 = kGeo1*(1.0 - shearDistI)*L*ul(5);
theVector(2) -= MpDelta3;
theVector(5) += MpDelta3;
return eleInfo.setVector(theVector);
case 3: // basic forces
return eleInfo.setVector(qb);
case 4: // local displacements
return eleInfo.setVector(ul);
case 5: // basic displacements
return eleInfo.setVector(ub);
default:
return -1;
}
}
const Vector& TwoNodeLink::getResistingForce()
{
// zero the residual
theVector->Zero();
// get resisting forces
for (int i=0; i<numDir; i++)
qb(i) = theMaterials[i]->getStress();
// determine resisting forces in local system
Vector ql(numDOF);
ql.addMatrixTransposeVector(0.0, Tlb, qb, 1.0);
// add P-Delta effects to local forces
if (Mratio.Size() == 4)
this->addPDeltaForces(ql);
// determine resisting forces in global system
theVector->addMatrixTransposeVector(0.0, Tgl, ql, 1.0);
return *theVector;
}
/**
* Calculates the orientation of determined by linear interpolation between
* q1 and q2. If alpha is 0, then q1 is returned. If alpha is 1, then
* q2 is returned.
* \param q1 the "initial" orientation
* \param q2 the "final" orientation
* \param alpha interpolation value (0 <= alpha <= 1)
* \return the orientation linearly interpolated between q1 and q2
* \todo rewrite this function to avoid cancellation errors
*/
QUAT QUAT::slerp(const QUAT& q1, const QUAT& q2, REAL alpha)
{
if (alpha < (REAL) 0.0 || alpha > (REAL) 1.0)
throw std::runtime_error("Attempting to interpolate using QUAT::slerp() with t not in interval [0,1]");
// compute q1'q2
REAL dot = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
// see whether we need to use the conjugate of q2
bool use_conj = (dot < (REAL) 0.0);
// clip dot
if (dot < (REAL) -1.0)
dot = (REAL) -1.0;
else if (dot > (REAL) 1.0)
dot = (REAL) 1.0;
// find the angle between the two
REAL theta = std::acos(std::fabs(dot));
if (theta == 0.0)
return q1;
// do slerp
REAL sin1at = std::sin((1-alpha)*theta);
REAL sinat = std::sin(alpha*theta);
REAL sint_i = (REAL) 1.0/std::sin(theta);
QUAT qa(q1.x*sin1at, q1.y*sin1at, q1.z*sin1at, q1.w*sin1at);
QUAT qb(q2.x*sinat, q2.y*sinat, q2.z*sinat, q2.w*sinat);
if (use_conj)
qb.conjugate();
QUAT qc = qa + qb;
qc.x *= sint_i;
qc.y *= sint_i;
qc.z *= sint_i;
qc.w *= sint_i;
return qc;
}
void ClsBaseQStateArrayView::createNullPixmap(){
#ifdef DEBUG_CLSBASEQSTATEARRAYVIEW
cout << "ClsBaseQStateArrayView::createNullPixmap()" << endl;
#endif
QBrush qb(Qt::yellow);
pmGridEmpty.resize ( size().width()-2*BORDER, size().height()-2*BORDER);
QPainter paint(&pmGridEmpty);
pmGridEmpty.fill(this->backgroundColor());
drawCheckerBoard(paint, -BORDER, -BORDER);
paint.end();
//-- bitBlt(this, BORDER, BORDER, &pmGridEmpty);
pmGridValues.resize ( size().width()-2*BORDER, size().height()-2*BORDER);
QPainter paintPM(&pmGridValues);
pmGridValues.fill(this->backgroundColor());
drawCheckerBoard(paintPM, -BORDER, -BORDER);
//cout << __FILE__ << ":" << __LINE__ << endl;
paintPM.end();
}
QString WebViewObject::hexPack(QVariant v,QString type) {
char buf[4];
char size = 0;
if("byte" == type) {
*((unsigned char*)buf) = v.value<unsigned char>();
size = 1;
} else if("sbyte" == type) {
*((signed char*)buf) = v.value<signed char>();
size = 1;
} else if("word" == type) {
*((unsigned short*)buf) = v.value<unsigned short>();
size = 2;
} else if("sword" == type) {
*((unsigned short*)buf) = v.value<signed short>();
size = 2;
} else if("float" == type) {
*((float*)buf) = v.value<float>();
size = 4;
}
QByteArray qb(buf,size);
return qb.toHex();
}
void VOIPGUIHandler::ReceivedVoipData(const RsPeerId &peer_id)
{
std::vector<RsVOIPDataChunk> chunks ;
if(!rsVOIP->getIncomingData(peer_id,chunks))
{
std::cerr << "VOIPGUIHandler::ReceivedVoipData(): No data chunks to get. Weird!" << std::endl;
return ;
}
ChatDialog *di = ChatDialog::getChat(ChatId(peer_id), Settings->getChatFlags());
if (di) {
ChatWidget *cw = di->getChatWidget();
if (cw) {
const QList<ChatWidgetHolder*> &chatWidgetHolderList = cw->chatWidgetHolderList();
foreach (ChatWidgetHolder *chatWidgetHolder, chatWidgetHolderList)
{
VOIPChatWidgetHolder *acwh = dynamic_cast<VOIPChatWidgetHolder*>(chatWidgetHolder) ;
if (acwh) {
for (unsigned int chunkIndex=0; chunkIndex<chunks.size(); chunkIndex++)
{
QByteArray qb(reinterpret_cast<const char *>(chunks[chunkIndex].data),chunks[chunkIndex].size);
if(chunks[chunkIndex].type == RsVOIPDataChunk::RS_VOIP_DATA_TYPE_AUDIO)
acwh->addAudioData(peer_id, &qb);
else if(chunks[chunkIndex].type == RsVOIPDataChunk::RS_VOIP_DATA_TYPE_VIDEO)
acwh->addVideoData(peer_id, &qb);
else
std::cerr << "VOIPGUIHandler: Unknown data type received. type=" << chunks[chunkIndex].type << std::endl;
}
break;
}
}
}
} else {
int ElastomericBearingBoucWen2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul.addMatrixVector(0.0, Tgl, ug, 1.0);
uldot.addMatrixVector(0.0, Tgl, ugdot, 1.0);
// transform response from the local to the basic system
ub.addMatrixVector(0.0, Tlb, ul, 1.0);
ubdot.addMatrixVector(0.0, Tlb, uldot, 1.0);
// 1) get axial force and stiffness in basic x-direction
theMaterials[0]->setTrialStrain(ub(0), ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// 2) calculate shear force and stiffness in basic y-direction
// get displacement increment (trial - commited)
double delta_ub = ub(1) - ubC(1);
if (fabs(delta_ub) > 0.0) {
// get yield displacement
double uy = qYield/k0;
// calculate hysteretic evolution parameter z using Newton-Raphson
int iter = 0;
double zAbs, tmp1, f, Df, delta_z;
do {
zAbs = fabs(z);
if (zAbs == 0.0) // check because of negative exponents
zAbs = DBL_EPSILON;
tmp1 = gamma + beta*sgn(z*delta_ub);
// function and derivative
f = z - zC - delta_ub/uy*(A - pow(zAbs,eta)*tmp1);
Df = 1.0 + delta_ub/uy*eta*pow(zAbs,eta-1.0)*sgn(z)*tmp1;
// issue warning if derivative Df is zero
if (fabs(Df) <= DBL_EPSILON) {
opserr << "WARNING: ElastomericBearingBoucWen2d::update() - "
<< "zero derivative in Newton-Raphson scheme for "
<< "hysteretic evolution parameter z.\n";
return -1;
}
// advance one step
delta_z = f/Df;
z -= delta_z;
iter++;
} while ((fabs(delta_z) >= tol) && (iter < maxIter));
// issue warning if Newton-Raphson scheme did not converge
if (iter >= maxIter) {
opserr << "WARNING: ElastomericBearingBoucWen2d::update() - "
<< "did not find the hysteretic evolution parameter z after "
<< iter << " iterations and norm: " << fabs(delta_z) << endln;
return -2;
}
// get derivative of hysteretic evolution parameter * uy
dzdu = A - pow(fabs(z),eta)*(gamma + beta*sgn(z*delta_ub));
// set shear force
qb(1) = qYield*z + k2*ub(1) + k3*sgn(ub(1))*pow(fabs(ub(1)),mu);
// set tangent stiffness
kb(1,1) = k0*dzdu + k2 + k3*mu*pow(fabs(ub(1)),mu-1.0);
}
// 3) get moment and stiffness about basic z-direction
theMaterials[1]->setTrialStrain(ub(2), ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
int SingleFPSimple2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul = Tgl*ug;
uldot = Tgl*ugdot;
// transform response from the local to the basic system
ub = Tlb*ul;
ubdot = Tlb*uldot;
// get absolute velocity
double ubdotAbs = sqrt(pow(ubdot(1)/Reff*ub(1),2) + pow(ubdot(1),2));
// 1) get axial force and stiffness in basic x-direction
double ub0Old = theMaterials[0]->getStrain();
theMaterials[0]->setTrialStrain(ub(0),ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// check for uplift
if (qb(0) >= 0.0) {
kb = kbInit;
if (qb(0) > 0.0) {
theMaterials[0]->setTrialStrain(ub0Old,0.0);
kb(0,0) *= DBL_EPSILON;
kb(2,2) *= DBL_EPSILON;
// update plastic displacement
ubPlastic = ub(1);
}
qb.Zero();
return 0;
}
// 2) calculate shear force and stiffness in basic y-direction
int iter = 0;
double qb1Old = 0.0;
do {
// save old shear force
qb1Old = qb(1);
// get normal and friction (yield) forces
double N = -qb(0) + qb(1)/Reff*ub(1) - qb(1)*ul(2);
theFrnMdl->setTrial(N, ubdotAbs);
double qYield = (theFrnMdl->getFrictionForce());
// get stiffness of elastic component
double k2 = N/Reff;
// get initial stiffness of hysteretic component
double k0 = qYield/uy;
// get trial shear force of hysteretic component
double qTrial = k0*(ub(1) - ubPlasticC);
// compute yield criterion of hysteretic component
double qTrialNorm = fabs(qTrial);
double Y = qTrialNorm - qYield;
// elastic step -> no updates required
if (Y <= 0.0) {
// set shear force
qb(1) = qTrial + k2*ub(1) - N*ul(2);
// set tangent stiffness
kb(1,1) = k0 + k2;
}
// plastic step -> return mapping
else {
// compute consistency parameter
double dGamma = Y/k0;
// update plastic displacement
ubPlastic = ubPlasticC + dGamma*qTrial/qTrialNorm;
// set shear force
qb(1) = qYield*qTrial/qTrialNorm + k2*ub(1) - N*ul(2);
// set tangent stiffness
kb(1,1) = k2;
}
iter++;
} while ((fabs(qb(1)-qb1Old) >= tol) && (iter < maxIter));
// issue warning if iteration did not converge
if (iter >= maxIter) {
opserr << "WARNING: SingleFPSimple2d::update() - did not find the shear force after "
<< iter << " iterations and norm: " << fabs(qb(1)-qb1Old) << endln;
return -1;
}
// 3) get moment and stiffness in basic z-direction
theMaterials[1]->setTrialStrain(ub(2),ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
void OverlayUser::updateUser() {
if (os->bUserName && (qgpiName[0]->pixmap().isNull() || (cuUser && (qsName != cuUser->qsName)))) {
if (cuUser)
qsName = cuUser->qsName;
OverlayTextLine tl(qsName, os->qfUserName);
for (int i=0; i<4; ++i) {
const QPixmap &pm = tl.createPixmap(SCALESIZE(UserName), os->qcUserName[i]);
qgpiName[i]->setPixmap(pm);
if (i == 0)
qgpiName[0]->setPos(alignedPosition(scaledRect(os->qrfUserName, uiSize * os->fZoom), qgpiName[0]->boundingRect(), os->qaUserName));
else
qgpiName[i]->setPos(qgpiName[0]->pos());
}
}
if (os->bChannel && (qgpiChannel->pixmap().isNull() || (cuUser && (qsChannelName != cuUser->cChannel->qsName)))) {
if (cuUser)
qsChannelName = cuUser->cChannel->qsName;
const QPixmap &pm = OverlayTextLine(qsChannelName, os->qfChannel).createPixmap(SCALESIZE(Channel), os->qcChannel);
qgpiChannel->setPixmap(pm);
qgpiChannel->setPos(alignedPosition(scaledRect(os->qrfChannel, uiSize * os->fZoom), qgpiChannel->boundingRect(), os->qaChannel));
}
if (os->bAvatar && (qgpiAvatar->pixmap().isNull() || (cuUser && (qbaAvatar != cuUser->qbaTextureHash)))) {
if (cuUser)
qbaAvatar = cuUser->qbaTextureHash;
QImage img;
if (! qbaAvatar.isNull() && cuUser->qbaTexture.isEmpty()) {
g.o->requestTexture(cuUser);
} else if (qbaAvatar.isNull()) {
QImageReader qir(QLatin1String("skin:default_avatar.svg"));
QSize sz = qir.size();
sz.scale(SCALESIZE(Avatar), Qt::KeepAspectRatio);
qir.setScaledSize(sz);
img = qir.read();
} else {
QBuffer qb(& cuUser->qbaTexture);
qb.open(QIODevice::ReadOnly);
QImageReader qir(&qb, cuUser->qbaTextureFormat);
QSize sz = qir.size();
sz.scale(SCALESIZE(Avatar), Qt::KeepAspectRatio);
qir.setScaledSize(sz);
img = qir.read();
}
qgpiAvatar->setPixmap(QPixmap::fromImage(img));
qgpiAvatar->setPos(alignedPosition(scaledRect(os->qrfAvatar, uiSize * os->fZoom), qgpiAvatar->boundingRect(), os->qaAvatar));
}
qgpiAvatar->setVisible(os->bAvatar);
if (cuUser) {
ClientUser *self = ClientUser::get(g.uiSession);
if (os->bMutedDeafened) {
if (cuUser->bDeaf || cuUser->bSelfDeaf) {
qgpiMuted->hide();
qgpiDeafened->show();
} else if (cuUser->bMute || cuUser->bSelfMute || cuUser->bLocalMute || cuUser->bSuppress) {
qgpiMuted->show();
qgpiDeafened->hide();
} else {
qgpiMuted->hide();
qgpiDeafened->hide();
}
} else {
qgpiMuted->hide();
qgpiDeafened->hide();
}
bool samechannel = self && (self->cChannel == cuUser->cChannel);
qgpiChannel->setVisible(os->bChannel && ! samechannel);
tsColor = cuUser->tsState;
} else {
qgpiChannel->setVisible(os->bChannel && (tsColor != Settings::Passive) && (tsColor != Settings::Talking));
qgpiMuted->setVisible(os->bChannel);
qgpiDeafened->hide();
}
if (os->bUserName)
for (int i=0;i<4;++i)
qgpiName[i]->setVisible(i == tsColor);
else
for (int i=0;i<4;++i)
qgpiName[i]->setVisible(false);
qgpiBox->setVisible(os->bBox);
setOpacity(os->fUser[tsColor]);
}
//private
void PlatformDemoState::cacheMeshes()
{
xy::CubeBuilder cb(100.f);
m_meshRenderer.loadModel(MeshID::Cube, cb);
xy::IQMBuilder ib("assets/models/mrfixit.iqm");
m_meshRenderer.loadModel(MeshID::Fixit, ib);
xy::IQMBuilder ib2("assets/models/platform_01.iqm");
m_meshRenderer.loadModel(MeshID::Platform, ib2);
xy::IQMBuilder ib3("assets/models/batcat.iqm");
m_meshRenderer.loadModel(MeshID::Batcat, ib3);
xy::QuadBuilder qb({ 1500.f, 550.f });
m_meshRenderer.loadModel(MeshID::Quad, qb);
xy::SphereBuilder sb(34.f, 6u);
m_meshRenderer.loadModel(MeshID::Sphere, sb);
auto& demoMaterial = m_meshRenderer.addMaterial(MatId::Demo, xy::Material::TexturedBumped, true);
demoMaterial.addProperty({ "u_diffuseMap", m_textureResource.get("assets/images/platform/cube_diffuse.png") });
demoMaterial.addProperty({ "u_normalMap", m_textureResource.get("assets/images/platform/cube_normal.png") });
demoMaterial.addProperty({ "u_maskMap", m_textureResource.get("assets/images/platform/cube_mask.png") });
demoMaterial.getRenderPass(xy::RenderPass::ID::ShadowMap)->setCullFace(xy::CullFace::Front);
auto& fixitMaterialBody = m_meshRenderer.addMaterial(MatId::MrFixitBody, xy::Material::TexturedSkinnedBumped, true);
fixitMaterialBody.addProperty({ "u_diffuseMap", m_textureResource.get("assets/images/fixit/fixitBody.png") });
fixitMaterialBody.addProperty({ "u_normalMap", m_textureResource.get("assets/images/fixit/fixitBody_normal.png") });
fixitMaterialBody.addProperty({ "u_maskMap", m_textureResource.get("assets/images/fixit/fixitBody_mask.tga") });
fixitMaterialBody.getRenderPass(xy::RenderPass::ID::ShadowMap)->setCullFace(xy::CullFace::Front);
auto& fixitMaterialHead = m_meshRenderer.addMaterial(MatId::MrFixitHead, xy::Material::TexturedSkinnedBumped, true);
fixitMaterialHead.addProperty({ "u_diffuseMap", m_textureResource.get("assets/images/fixit/fixitHead.png") });
fixitMaterialHead.addProperty({ "u_normalMap", m_textureResource.get("assets/images/fixit/fixitHead_normal.png") });
fixitMaterialHead.addProperty({ "u_maskMap", m_textureResource.get("assets/images/fixit/fixitHead_mask.png") });
fixitMaterialHead.getRenderPass(xy::RenderPass::ID::ShadowMap)->setCullFace(xy::CullFace::Front);
auto& platformMaterial01 = m_meshRenderer.addMaterial(MatId::Platform01, xy::Material::Textured, true, true);
platformMaterial01.addProperty({ "u_diffuseMap", m_textureResource.get("assets/images/platform/plat_01.png") });
auto& platformMaterial04 = m_meshRenderer.addMaterial(MatId::Platform04, xy::Material::Textured, true, true);
platformMaterial04.addProperty({ "u_diffuseMap", m_textureResource.get("assets/images/platform/plat_04.png") });
auto& catMat = m_meshRenderer.addMaterial(MatId::BatcatMat, xy::Material::TexturedSkinnedBumped, true);
auto& tex = m_textureResource.get("assets/images/platform/batcat_diffuse.png");
tex.setRepeated(true);
catMat.addProperty({ "u_diffuseMap", tex });
auto& tex2 = m_textureResource.get("assets/images/platform/batcat_normal.png");
tex2.setRepeated(true);
catMat.addProperty({ "u_normalMap", tex2 });
auto& tex3 = m_textureResource.get("assets/images/platform/batcat_mask.png");
tex3.setRepeated(true);
catMat.addProperty({ "u_maskMap", tex3 });
catMat.getRenderPass(xy::RenderPass::ID::ShadowMap)->setCullFace(xy::CullFace::Front);
m_textureResource.setFallbackColour(sf::Color(230, 120, 0));
auto& sphereMat = m_meshRenderer.addMaterial(MatId::SphereTest, xy::Material::TexturedBumped, true);
sphereMat.addProperty({ "u_diffuseMap", m_textureResource.get("assets/images/sphere_test.png") });
sphereMat.addProperty({ "u_normalMap", m_textureResource.get("assets/images/sphere_normal.png") });
sphereMat.addProperty({ "u_maskMap", m_textureResource.get("I don't want a mask texture!!") });
sphereMat.getRenderPass(xy::RenderPass::ID::ShadowMap)->setCullFace(xy::CullFace::Front);
auto& lightMaterial = m_meshRenderer.addMaterial(MatId::LightSource, xy::Material::Coloured);
lightMaterial.addProperty({ "u_colour", sf::Color(135, 135, 80) });
lightMaterial.addProperty({ "u_maskColour", sf::Color::Blue });
auto light = xy::Component::create<xy::PointLight>(m_messageBus, 800.f, 500.f, sf::Color(255, 255, 100));
light->setDepth(400.f);
light->enableShadowCasting(true);
auto model = m_meshRenderer.createModel(MeshID::Cube, m_messageBus);
model->setPosition({ 0.f, 0.f, light->getWorldPosition().z });
model->setSubMaterial(lightMaterial, 0);
auto entity = xy::Entity::create(m_messageBus);
entity->setPosition(xy::DefaultSceneSize / 2.f);
entity->setScale(0.25f, 0.25f);
entity->addComponent(light);
entity->addComponent(model);
m_scene.addEntity(entity, xy::Scene::Layer::FrontFront);
//---------------
light = xy::Component::create<xy::PointLight>(m_messageBus, 600.f, 500.f, sf::Color(255, 255, 100));
light->setDepth(300.f);
light->setIntensity(2.5f);
light->enableShadowCasting(true);
model = m_meshRenderer.createModel(MeshID::Cube, m_messageBus);
model->setPosition({ 0.f, 0.f, light->getWorldPosition().z });
model->setSubMaterial(lightMaterial, 0);
entity = xy::Entity::create(m_messageBus);
entity->setPosition(2000.f, 200.f);
entity->setScale(0.35f, 0.35f);
entity->addComponent(light);
entity->addComponent(model);
m_scene.addEntity(entity, xy::Scene::Layer::FrontFront);
}
int ElastomericBearing2d::update()
{
// get global trial displacements and velocities
const Vector &dsp1 = theNodes[0]->getTrialDisp();
const Vector &dsp2 = theNodes[1]->getTrialDisp();
const Vector &vel1 = theNodes[0]->getTrialVel();
const Vector &vel2 = theNodes[1]->getTrialVel();
static Vector ug(6), ugdot(6), uldot(6), ubdot(3);
for (int i=0; i<3; i++) {
ug(i) = dsp1(i); ugdot(i) = vel1(i);
ug(i+3) = dsp2(i); ugdot(i+3) = vel2(i);
}
// transform response from the global to the local system
ul = Tgl*ug;
uldot = Tgl*ugdot;
// transform response from the local to the basic system
ub = Tlb*ul;
ubdot = Tlb*uldot;
// 1) get axial force and stiffness in basic x-direction
theMaterials[0]->setTrialStrain(ub(0),ubdot(0));
qb(0) = theMaterials[0]->getStress();
kb(0,0) = theMaterials[0]->getTangent();
// 2) calculate shear force and stiffness in basic y-direction
// get trial shear force of hysteretic component
double qTrial = k0*(ub(1) - ubPlasticC);
// compute yield criterion of hysteretic component
double qTrialNorm = fabs(qTrial);
double Y = qTrialNorm - qYield;
// elastic step -> no updates required
if (Y <= 0.0) {
// set shear force
qb(1) = qTrial + k2*ub(1);
// set tangent stiffness
kb(1,1) = k0 + k2;
}
// plastic step -> return mapping
else {
// compute consistency parameter
double dGamma = Y/k0;
// update plastic displacement
ubPlastic = ubPlasticC + dGamma*qTrial/qTrialNorm;
// set shear force
qb(1) = qYield*qTrial/qTrialNorm + k2*ub(1);
// set tangent stiffness
kb(1,1) = k2;
}
// 3) get moment and stiffness in basic z-direction
theMaterials[1]->setTrialStrain(ub(2),ubdot(2));
qb(2) = theMaterials[1]->getStress();
kb(2,2) = theMaterials[1]->getTangent();
return 0;
}
EllipsoidFitter::Calibration EllipsoidFitter::calculateFit(void) const
{
/*********************************************************************
First step: Fit a quadric to the point set by least-squares
minimization based on algebraic distance.
*********************************************************************/
/* Create the least-squares system: */
Math::Matrix a(10,10,0.0);
/* Process all points: */
for(Misc::ChunkedArray<Point>::const_iterator pIt=points.begin();pIt!=points.end();++pIt)
{
/* Create the point's associated linear equation: */
double eq[10];
eq[0]=(*pIt)[0]*(*pIt)[0];
eq[1]=2.0*(*pIt)[0]*(*pIt)[1];
eq[2]=2.0*(*pIt)[0]*(*pIt)[2];
eq[3]=2.0*(*pIt)[0];
eq[4]=(*pIt)[1]*(*pIt)[1];
eq[5]=2.0*(*pIt)[1]*(*pIt)[2];
eq[6]=2.0*(*pIt)[1];
eq[7]=(*pIt)[2]*(*pIt)[2];
eq[8]=2.0*(*pIt)[2];
eq[9]=1.0;
/* Insert the equation into the least-squares system: */
for(unsigned int i=0;i<10;++i)
for(unsigned int j=0;j<10;++j)
a(i,j)+=eq[i]*eq[j];
}
/* Find the least-squares system's smallest eigenvalue: */
std::pair<Math::Matrix,Math::Matrix> qe=a.jacobiIteration();
unsigned int minEIndex=0;
double minE=Math::abs(qe.second(0,0));
for(unsigned int i=1;i<10;++i)
{
if(minE>Math::abs(qe.second(i,0)))
{
minEIndex=i;
minE=Math::abs(qe.second(i,0));
}
}
/* Create the quadric's defining matrices: */
Math::Matrix qa(3,3);
qa(0,0)=qe.first(0,minEIndex);
qa(0,1)=qe.first(1,minEIndex);
qa(0,2)=qe.first(2,minEIndex);
qa(1,0)=qe.first(1,minEIndex);
qa(1,1)=qe.first(4,minEIndex);
qa(1,2)=qe.first(5,minEIndex);
qa(2,0)=qe.first(2,minEIndex);
qa(2,1)=qe.first(5,minEIndex);
qa(2,2)=qe.first(7,minEIndex);
Math::Matrix qb(3,1);
qb(0)=qe.first(3,minEIndex);
qb(1)=qe.first(6,minEIndex);
qb(2)=qe.first(8,minEIndex);
double qc=qe.first(9,minEIndex);
/* Calculate the quadric's principal axes: */
qe=qa.jacobiIteration();
std::cout<<std::fixed<<std::setprecision(6);
std::cout<<std::setw(9)<<qe.first<<std::endl;
std::cout<<std::setw(9)<<qe.second<<std::endl<<std::endl;
std::cout.unsetf(std::ios_base::floatfield);
/* "Complete the square" to calculate the quadric's centroid and radii: */
Math::Matrix qbp=qb.divideFullPivot(qe.first);
Math::Matrix cp(3,1);
for(int i=0;i<3;++i)
cp(i)=-qbp(i)/qe.second(i);
Math::Matrix c=qe.first*cp;
std::cout<<"Centroid: "<<c(0)<<", "<<c(1)<<", "<<c(2)<<std::endl;
double rhs=-qc;
for(int i=0;i<3;++i)
rhs+=Math::sqr(qbp(i))/qe.second(i);
double radii[3];
for(int i=0;i<3;++i)
radii[i]=Math::sqrt(rhs/qe.second(i));
std::cout<<"Radii: "<<radii[0]<<", "<<radii[1]<<", "<<radii[2]<<std::endl;
Scalar averageRadius=Math::pow(radii[0]*radii[1]*radii[2],1.0/3.0);
std::cout<<"Average radius: "<<averageRadius<<std::endl;
/* Calculate the calibration matrix: */
Math::Matrix ellP(4,4,1.0);
for(int i=0;i<3;++i)
for(int j=0;j<3;++j)
ellP(i,j)=qe.first(i,j);
Math::Matrix ellScale(4,4,1.0);
for(int i=0;i<3;++i)
ellScale(i,i)=averageRadius/radii[i];
Math::Matrix ell=ellP;
ell.makePrivate();
for(int i=0;i<3;++i)
ell(i,3)=c(i);
Math::Matrix ellInv=ell.inverseFullPivot();
Math::Matrix calib=ellP*ellScale*ellInv;
std::cout<<std::fixed<<std::setprecision(6);
std::cout<<std::setw(9)<<calib<<std::endl;
std::cout.unsetf(std::ios_base::floatfield);
/* Calculate the calibration residual: */
double rms=0.0;
for(Misc::ChunkedArray<Point>::const_iterator pIt=points.begin();pIt!=points.end();++pIt)
{
/* Calibrate the point: */
Math::Matrix p(4,1);
for(int i=0;i<3;++i)
p(i)=(*pIt)[i];
p(3)=1.0;
Math::Matrix cp=calib*p;
rms+=Math::sqr(Math::sqrt(Math::sqr(cp(0))+Math::sqr(cp(1))+Math::sqr(cp(2)))-averageRadius);
}
std::cout<<"Calibration residual: "<<Math::sqrt(rms/double(points.size()))<<std::endl;
/* Create and return the calibration result: */
Matrix result;
for(int i=0;i<3;++i)
for(int j=0;j<4;++j)
result(i,j)=calib(i,j);
return Calibration(result,averageRadius);
}
void Font::read(const void * data, size_t size) {
std::istringstream in(std::string(static_cast<const char*>(data), size));
// SignedDistanceFontFile sdff;
// sdff.read(in);
uint8_t header[4];
readStream(in, header);
if (memcmp(header, "SDFF", 4)) {
FAIL("Bad font file");
}
uint16_t version;
readStream(in, version);
// read font name
if (version > 0x0001) {
char c;
readStream(in, c);
while (c) {
mFamily += c;
readStream(in, c);
}
}
// read font data
readStream(in, mLeading);
readStream(in, mAscent);
readStream(in, mDescent);
readStream(in, mSpaceWidth);
mFontSize = mAscent + mDescent;
// read metrics data
mMetrics.clear();
uint16_t count;
readStream(in, count);
for (int i = 0; i < count; ++i) {
uint16_t charcode;
readStream(in, charcode);
Metrics & m = mMetrics[charcode];
readStream(in, m.ul.x);
readStream(in, m.ul.y);
readStream(in, m.size.x);
readStream(in, m.size.y);
readStream(in, m.offset.x);
readStream(in, m.offset.y);
readStream(in, m.d);
m.lr = m.ul + m.size;
}
// read image data
readPngToTexture((const char *) data + in.tellg(), size - in.tellg(),
mTexture, mTextureSize);
std::vector<TextureVertex> vertexData;
std::vector<GLuint> indexData;
float texH = 0, texW = 0, texA = 0;
int characters = 0;
std::for_each(mMetrics.begin(), mMetrics.end(),
[&] ( MetricsData::reference & md ) {
uint16_t id = md.first;
Font::Metrics & m = md.second;
++characters;
GLuint index = (GLuint)vertexData.size();
rectf bounds = getBounds(m, mFontSize);
rectf texBounds = getTexCoords(m);
QuadBuilder qb(bounds, texBounds);
for (int i = 0; i < 4; ++i) {
vertexData.push_back(qb.vertices[i]);
}
m.indexOffset = indexData.size();
indexData.push_back(index + 0);
indexData.push_back(index + 1);
indexData.push_back(index + 2);
indexData.push_back(index + 0);
indexData.push_back(index + 2);
indexData.push_back(index + 3);
});
gl::VertexBufferPtr vertexBuffer(new gl::VertexBuffer(vertexData));
gl::IndexBufferPtr indexBuffer(new gl::IndexBuffer(indexData));
mGeometry = gl::GeometryPtr(
new gl::Geometry(vertexBuffer, indexBuffer, characters * 2,
gl::Geometry::Flag::HAS_TEXTURE));
mGeometry->buildVertexArray();
}
void TwoNodeLink::addPDeltaStiff(Matrix &kLocal)
{
int dirID;
double N = 0.0;
// get axial force
for (int i=0; i<numDir; i++) {
if ((*dir)(i) == 0)
N = qb(i);
}
if (N != 0.0) {
for (int i=0; i<numDir; i++) {
dirID = (*dir)(i); // direction 0 to 5;
// switch on dimensionality of element
switch (elemType) {
case D2N4:
if (dirID == 1) {
double NoverL = N/L;
NoverL *= 1.0-Mratio(2)-Mratio(3);
kLocal(1,1) += NoverL;
kLocal(1,3) -= NoverL;
kLocal(3,1) -= NoverL;
kLocal(3,3) += NoverL;
}
break;
case D2N6:
if (dirID == 1) {
double NoverL = N/L;
NoverL *= 1.0-Mratio(2)-Mratio(3);
kLocal(1,1) += NoverL;
kLocal(1,4) -= NoverL;
kLocal(4,1) -= NoverL;
kLocal(4,4) += NoverL;
}
else if (dirID == 2) {
kLocal(2,1) -= Mratio(2)*N;
kLocal(2,4) += Mratio(2)*N;
kLocal(5,1) -= Mratio(3)*N;
kLocal(5,4) += Mratio(3)*N;
}
break;
case D3N6:
if (dirID == 1) {
double NoverL = N/L;
NoverL *= 1.0-Mratio(2)-Mratio(3);
kLocal(1,1) += NoverL;
kLocal(1,4) -= NoverL;
kLocal(4,1) -= NoverL;
kLocal(4,4) += NoverL;
}
else if (dirID == 2) {
double NoverL = N/L;
NoverL *= 1.0-Mratio(0)-Mratio(1);
kLocal(2,2) += NoverL;
kLocal(2,5) -= NoverL;
kLocal(5,2) -= NoverL;
kLocal(5,5) += NoverL;
}
break;
case D3N12:
if (dirID == 1) {
double NoverL = N/L;
NoverL *= 1.0-Mratio(2)-Mratio(3);
kLocal(1,1) += NoverL;
kLocal(1,7) -= NoverL;
kLocal(7,1) -= NoverL;
kLocal(7,7) += NoverL;
}
else if (dirID == 2) {
double NoverL = N/L;
NoverL *= 1.0-Mratio(0)-Mratio(1);
kLocal(2,2) += NoverL;
kLocal(2,8) -= NoverL;
kLocal(8,2) -= NoverL;
kLocal(8,8) += NoverL;
}
else if (dirID == 4) {
kLocal(4,2) += Mratio(0)*N;
kLocal(4,8) -= Mratio(0)*N;
kLocal(10,2) += Mratio(1)*N;
kLocal(10,8) -= Mratio(1)*N;
}
else if (dirID == 5) {
kLocal(5,1) -= Mratio(2)*N;
kLocal(5,7) += Mratio(2)*N;
kLocal(11,1) -= Mratio(3)*N;
kLocal(11,7) += Mratio(3)*N;
}
break;
default :
// do nothing
break;
}
}
}
}
void TwoNodeLink::addPDeltaForces(Vector &pLocal)
{
int dirID;
double N = 0.0;
double deltal1 = 0.0;
double deltal2 = 0.0;
for (int i=0; i<numDir; i++) {
dirID = (*dir)(i); // direction 0 to 5;
// get axial force and local disp differences
if (dirID == 0)
N = qb(i);
else if (dirID == 1 && numDIM > 1)
deltal1 = ul(1+numDOF/2) - ul(1);
else if (dirID == 2 && numDIM > 2)
deltal2 = ul(2+numDOF/2) - ul(2);
}
if (N != 0.0 && (deltal1 != 0.0 || deltal2 != 0.0)) {
for (int i=0; i<numDir; i++) {
dirID = (*dir)(i); // direction 0 to 5;
// switch on dimensionality of element
switch (elemType) {
case D2N4:
if (dirID == 1) {
double VpDelta = N*deltal1/L;
VpDelta *= 1.0-Mratio(2)-Mratio(3);
pLocal(1) -= VpDelta;
pLocal(3) += VpDelta;
}
break;
case D2N6:
if (dirID == 1) {
double VpDelta = N*deltal1/L;
VpDelta *= 1.0-Mratio(2)-Mratio(3);
pLocal(1) -= VpDelta;
pLocal(4) += VpDelta;
}
else if (dirID == 2) {
double MpDelta = N*deltal1;
pLocal(2) += Mratio(2)*MpDelta;
pLocal(5) += Mratio(3)*MpDelta;
}
break;
case D3N6:
if (dirID == 1) {
double VpDelta = N*deltal1/L;
VpDelta *= 1.0-Mratio(2)-Mratio(3);
pLocal(1) -= VpDelta;
pLocal(4) += VpDelta;
}
else if (dirID == 2) {
double VpDelta = N*deltal2/L;
VpDelta *= 1.0-Mratio(0)-Mratio(1);
pLocal(2) -= VpDelta;
pLocal(5) += VpDelta;
}
break;
case D3N12:
if (dirID == 1) {
double VpDelta = N*deltal1/L;
VpDelta *= 1.0-Mratio(2)-Mratio(3);
pLocal(1) -= VpDelta;
pLocal(7) += VpDelta;
}
else if (dirID == 2) {
double VpDelta = N*deltal2/L;
VpDelta *= 1.0-Mratio(0)-Mratio(1);
pLocal(2) -= VpDelta;
pLocal(8) += VpDelta;
}
else if (dirID == 4) {
double MpDelta = N*deltal2;
pLocal(4) -= Mratio(0)*MpDelta;
pLocal(10) -= Mratio(1)*MpDelta;
}
else if (dirID == 5) {
double MpDelta = N*deltal1;
pLocal(5) += Mratio(2)*MpDelta;
pLocal(11) += Mratio(3)*MpDelta;
}
break;
default :
// do nothing
break;
}
}
}
}