void CSpark::EulerStep(float deltaT)
{
this->deltaT = deltaT;
ComputeForce();
FindDeriv();
UpdateState();
}
void TestMoXie::testForceConversion()
{
Trial trialC3D;
try
{
// load AMTI force data
auto_ptr<TreeValue> fileC3D( handler.Read("Open3DMotionTest/Data/C3D/sample10/TYPE-4.C3D") );
// parse
trialC3D.FromTree( fileC3D.get() );
// re-write as MoXie
auto_ptr<TreeValue> moxie_options( FileFormatOptionsMoXie().ToTree() );
handler.Write("Open3DMotionTest/Data/Temp/rewrite_sample10_TYPE-4.mox", fileC3D.get(), moxie_options.get());
}
catch(const MotionFileException& error)
{
CPPUNIT_FAIL(error.message);
}
// re-load
Trial trialMox;
try
{
auto_ptr<TreeValue> treeMox( handler.Read("Open3DMotionTest/Data/Temp/rewrite_sample10_TYPE-4.mox") );
trialMox.FromTree( treeMox.get() );
}
catch(const MotionFileException& error)
{
CPPUNIT_FAIL(error.message);
}
// should be one forceplate in original and in reload
CPPUNIT_ASSERT_EQUAL(size_t(1), trialC3D.Acq.ForcePlates.NumElements());
CPPUNIT_ASSERT_EQUAL(size_t(1), trialMox.Acq.ForcePlates.NumElements());
// expect the six force channels in reload
CPPUNIT_ASSERT_EQUAL(size_t(6), trialMox.Acq.TimeSequences.NumElements());
// compute force in each case
TimeSequence* forceC3D(NULL), *pointC3D(NULL);
TimeSequence* forceMox(NULL), *pointMox(NULL);
ComputeForce(forceC3D, pointC3D, trialC3D);
ComputeForce(forceMox, pointMox, trialMox);
// all rates should match
CPPUNIT_ASSERT_DOUBLES_EQUAL(forceC3D->Rate, pointC3D->Rate, 1E-6);
CPPUNIT_ASSERT_DOUBLES_EQUAL(forceC3D->Rate, forceMox->Rate, 1E-6);
CPPUNIT_ASSERT_DOUBLES_EQUAL(forceC3D->Rate, pointMox->Rate, 1E-6);
// all frame counts should match
size_t numframes = forceC3D->NumFrames();
CPPUNIT_ASSERT_EQUAL(numframes, pointC3D->NumFrames());
CPPUNIT_ASSERT_EQUAL(numframes, forceMox->NumFrames());
CPPUNIT_ASSERT_EQUAL(numframes, pointMox->NumFrames());
// thresholder for Fz
TSVector3ConstIter thresholdFz(*forceC3D);
// compare numbers - MoXie uses 2 d.p. for N and 2 d.p. for Nm (=> tens column for Nmm)
CompareTS(*forceC3D, *forceMox, "force", 0.01);
CompareTS(*pointC3D, *pointMox, "point", 10.0, &thresholdFz);
}
int main(int argc, char *argv[])
{
vect zero;
vectSetZero(zero);
float a = vectGetLength(zero);
printf("%f\n", abs((int)(a)));
if (abs(a) > 0.0f) printf("aaa\n");
char *strFileName = (char*) malloc(sizeof(char)*1024);
Demon d1;
//InitDemon2Gran(&d1);
vect or;
vectSetValue(or, 1.0, 1.0, 1.0);
//InitDemonBox(&d1, or, 4, 4, 4);
//InitDemonGroGra(&d1);
pov pov1;
pov1.num_light = 0;
pov1.num_include= 0;
//vectSetValue(&(pov1.camera.location), 10, 10, 10);
//vectSetValue(&(pov1.camera.lookAt), 0, 0, 0);
vectSetValue(&(pov1.camera.location), 0, 15, 5);
vectSetValue(&(pov1.camera.lookAt), 0, 0, 0);
pov_light light1;
vectSetValue(&(light1.location), 20, 0, 20);
lightSetColor(&light1, "White");
povAddLight(&pov1, &light1);
vectSetValue(&(light1.location), -20, 0, 20);
lightSetColor(&light1, "White");
povAddLight(&pov1, &light1);
vectSetValue(&(light1.location), 0, -20, 20);
lightSetColor(&light1, "White");
povAddLight(&pov1, &light1);
vectSetValue(&(light1.location), 0, 20, 20);
lightSetColor(&light1, "White");
povAddLight(&pov1, &light1);
povAddInclude(&pov1, "colors");
unsigned iCurDemon = INIT_GRAN_ONE_NOR;
//for(iCurDemon = 0; iCurDemon < INIT_FUNC_NUM; iCurDemon ++)
{
(initList[iCurDemon])(&d1);
pov1.dem_scene = &d1;
unsigned output_rate = (unsigned)(1.0/25.0/d1.time_step);
char cmd[256];
sprintf(cmd, "mkdir out/%s", filenameList[iCurDemon]);
system(cmd);
sprintf(cmd, "mkdir out/%s/pov", filenameList[iCurDemon]);
system(cmd);
sprintf(cmd, "rm out/%s/pov/*.pov", filenameList[iCurDemon]);
system(cmd);
for (unsigned iFrame = 0; iFrame < 9000; iFrame ++) {
//printf("%u\n", iFrame);
if (iFrame % output_rate == 0) {
//sprintf(strFileName, "/home/hammurabi/toShare/demon-1/pov/GroundGranular%03u.pov", iFrame/output_rate);
sprintf(strFileName, "out/%s/pov/%03u.pov", filenameList[iCurDemon], iFrame/output_rate);
//printf("%f\t%f\t%f\n", d1.sand[0].component[0].position[0], d1.sand[0].component[0].position[1], d1.sand[0].component[0].position[2]);
if( 0 == povSave(&pov1, strFileName)) {
printf("Can't open file: %s\n", strFileName);
return -1;
}
}
printf("%04u:", iFrame);
GranularPrint(d1.sand);
ComputeForce(&d1);
TimeIntergration(&d1);
}
FreeDemon(&d1);
}
free(strFileName);
povFree(&pov1);
return 0;
}