DungeonArea::DungeonArea(veci _pos, veci _size)
{
pos = _pos;
size = _size;
center = vecd((double)pos.x,(double)pos.y) + 0.5*vecd((double)size.x, (double)size.y);
}
allsh::allsh( unsigned int Nprt, unsigned int Nshell, vecd &velx, double tmpr_initial )
{
mNprt = Nprt;
mNshell = Nshell;
mMR = 1.0;
madidx = 5.0/3;
mshwidth = 0.1;
// initialize positions of shells
mpos = vecd(mNshell,0);
for( int i=0; i<mNshell; i++)
{
mpos[i] = i*mshwidth;
}
//
mvelx = velx;
mvely = vecd(mNshell,0);
mvelz = mvely;
mtmpr = vecd(mNshell, tmpr_initial);
//calculate the following
mxleftbdry = vecd(mNshell,0);
mvelxleftbdry = vecd(mNshell,0);
mvelyleftbdry = vecd(mNshell,0);
mvelzleftbdry = vecd(mNshell,0);
mvol = vecd(mNshell,0);
mprsr = vecd(mNshell,0);
mNpes = mNprt / mNshell;
mtotvol = mshwidth * mNshell;
updateleftbdry();
updatevelleftbdry();
updatevolume();
updatepressure();
}
void writeFrameBvh(ostream &os, Character::Pose &pose, vector< int > order) {
Quatd rot = rotation( -(double)M_PI * 0.5, make_vector(1.0, 0.0, 0.0) );
Quatd xrot;
Quatd yrot;
Quatd zrot;
xrot.x = 1/sqrt(2); xrot.y = 0; xrot.z = 0; xrot.w = -1/sqrt(2);
yrot.y = 1/sqrt(2); yrot.x = 0; yrot.z = 0; yrot.w = -1/sqrt(2);
zrot.z = 1/sqrt(2); zrot.x = 0; zrot.y = 0; zrot.w = 1/sqrt(2);
Vector3d root_position = vecd(pose.root_position);
//root_position = rotate(root_position, conjugate(rot));
// GOOD, but root doesn't match
// old
root_position = rotate(root_position, frame_rot());
os << FACTOR * root_position.x << " " << FACTOR * root_position.y << " " << FACTOR * root_position.z;
//os << "0 0 0";
double d[3];
//Quatd root_orientation = multiply(quatd(pose.root_orientation), xrot);
// rotate 180 degrees about the z axis, and -90 about the x-axis
Quatd root_orientation = quatd(pose.root_orientation);
root_orientation = normalize(multiply(frame_rot(), multiply(root_orientation, -frame_rot())));
root_orientation = normalize(multiply(xrot, root_orientation));
put_dof_rot(DOF_ORDER, root_orientation, d, 0);
os << " " << d[0] << " " << d[1] << " " << d[2];
//os << " 0 0 0";
/*Character::Angles angles;
Library::Skeleton trans;
to_euler_angles(pose, angles, trans);*/
//cout << "Root xyz " << d[0] << " " << d[1] << " " << d[2] << endl;
//os << " 0 0 0";
//cout << "Frame start: " << endl;
for (unsigned int i = 0; i < order.size(); i++) {
int b = order[i];
/*os << " " << angles.angles[angles.skeleton->bones[b].frame_offset + 0] << " ";
os << -angles.angles[angles.skeleton->bones[b].frame_offset + 1] << " ";
os << angles.angles[angles.skeleton->bones[b].frame_offset + 2];*/
//local, parent-relative, orientation.
Quatd orientation = quatd(pose.bone_orientations[b]);
orientation = normalize(multiply(frame_rot(), multiply(orientation, -frame_rot())));
put_dof_rot(DOF_ORDER, orientation, d, 0);
Quatd check = get_dof_rot(DOF_ORDER, d, 0);
if (length(orientation.xyzw - check.xyzw) > 0.001 && length(-orientation.xyzw - check.xyzw) > 0.001) {
cout << "Back quaternion conversion: " << orientation << " -> " << check << endl;
cout << " via " << d[0] << " " << d[1] << " " << d[2] << endl;
}
os << " " << d[0] << " " << d[1] << " " << d[2];
// GOOD - don't delete! - xyz order, plain old writing 0 1 2
//os << " " << d[0] << " " << d[1] << " " << d[2];
}
os << endl;
}
