void ship::Steering()
{
//static int i = 0;
if ((*Target).size()-1 == 0)return;
if (Destination > (int)((*Target).size() - 1))
{
Destination = 0;
}
// m_TopSpeed = 2.0f;
float Speed = 0;
X = false;
Y = false;
Vector2 TargetVector((*Target)[Destination]->m_x, (*Target)[Destination]->m_y);
Vector2 V;
Vector2 Pos(m_x, m_y);
Vector2 m_force;
Vector2 Velocity;
V = Normalize(TargetVector - Pos) * m_TopSpeed ;
m_force = V - Velocity;
Velocity = Velocity + m_force;
Pos = Pos + Velocity;
m_x = Pos.x;
m_y = Pos.y;
m_angle = atan2(Velocity.x,-Velocity.y);
m_angle *= 180 / (float)M_PI;
m_angle -= 90;
if (Pathing == false)
{
if (m_x <= (*Target)[Destination]->m_x + 10 && m_x >= (*Target)[Destination]->m_x - 10)
{
X = true;
};
if (m_y <= (*Target)[Destination]->m_y + 10 && m_y >= (*Target)[Destination]->m_y - 10)
{
Y = true;
};
}
else
{
if (m_x <= (*Target)[Destination]->m_x + 5 && m_x >= (*Target)[Destination]->m_x - 5)
{
X = true;
};
if (m_y <= (*Target)[Destination]->m_y + 5 && m_y >= (*Target)[Destination]->m_y - 5)
{
Y = true;
};
};
//m_Home = 2;
if (Pathing == false)
{
if (X && Y && Destination == m_Home)
{
Idle = true; AtDestination = true;
}
else if (X && Y)
{
Destination = m_Home; Collect(); AtDestination = true; Hull -= 4;
};
}
else if (Pathing == true)
{
while (true)
{
if (Path.size() <= 0)
{
return;
}
Destination = Path[0]->Index;
if (X == true && Y == true)
{
Path.erase(Path.begin());
Destination = Path[0]->Index;
X = false;
Y = false;
}
else
{
break;
}
}
};
}
int main(int argc, char *argv[])
{
int ierr = 0, i, j, forierr = 0;
#ifdef EPETRA_MPI
// Initialize MPI
MPI_Init(&argc,&argv);
Epetra_MpiComm Comm( MPI_COMM_WORLD );
#else
Epetra_SerialComm Comm;
#endif
bool verbose = false;
// Check if we should print results to standard out
if (argc>1) if (argv[1][0]=='-' && argv[1][1]=='v') verbose = true;
//char tmp;
//if (Comm.MyPID()==0) cout << "Press any key to continue..."<< endl;
//if (Comm.MyPID()==0) cin >> tmp;
//Comm.Barrier();
Comm.SetTracebackMode(0); // This should shut down any error traceback reporting
int MyPID = Comm.MyPID();
int NumProc = Comm.NumProc();
if (verbose && MyPID==0)
cout << Epetra_Version() << endl << endl;
if (verbose) cout << "Processor "<<MyPID<<" of "<< NumProc
<< " is alive."<<endl;
// Redefine verbose to only print on PE 0
if (verbose && Comm.MyPID()!=0) verbose = false;
int NumMyEquations = 20;
long long NumGlobalEquations = NumMyEquations*NumProc+EPETRA_MIN(NumProc,3);
if (MyPID < 3) NumMyEquations++;
// Construct a Source Map that puts approximately the same Number of equations on each processor in
// uniform global ordering
Epetra_Map SourceMap(NumGlobalEquations, NumMyEquations, 0LL, Comm);
// Get update list and number of local equations from newly created Map
int NumMyElements = SourceMap.NumMyElements();
long long * SourceMyGlobalElements = new long long[NumMyElements];
SourceMap.MyGlobalElements(SourceMyGlobalElements);
// Construct a Target Map that will contain:
// some unchanged elements (relative to the soure map),
// some permuted elements
// some off-processor elements
Epetra_Vector RandVec(SourceMap);
RandVec.Random(); // This creates a vector of random numbers between negative one and one.
long long *TargetMyGlobalElements = new long long[NumMyElements];
long long MinGID = SourceMap.MinMyGID64();
for (i=0; i< NumMyEquations/2; i++) TargetMyGlobalElements[i] = i + MinGID; // Half will be the same...
for (i=NumMyEquations/2; i<NumMyEquations; i++) {
int index = abs((int)(((double) (NumGlobalEquations-1) ) * RandVec[i]));
TargetMyGlobalElements[i] = EPETRA_MIN(NumGlobalEquations-1,(long long) EPETRA_MAX(0,index));
}
int NumSameIDs = 0;
int NumPermutedIDs = 0;
int NumRemoteIDs = 0;
bool StillContiguous = true;
for (i=0; i < NumMyEquations; i++) {
if (SourceMyGlobalElements[i]==TargetMyGlobalElements[i] && StillContiguous)
NumSameIDs++;
else if (SourceMap.MyGID(TargetMyGlobalElements[i])) {
StillContiguous = false;
NumPermutedIDs++;
}
else {
StillContiguous = false;
NumRemoteIDs++;
}
}
EPETRA_TEST_ERR(!(NumMyEquations==NumSameIDs+NumPermutedIDs+NumRemoteIDs),ierr);
Epetra_Map TargetMap((long long) -1, NumMyElements, TargetMyGlobalElements, 0LL, Comm);
// Create a multivector whose elements are GlobalID * (column number +1)
int NumVectors = 3;
Epetra_MultiVector SourceMultiVector(SourceMap, NumVectors);
for (j=0; j < NumVectors; j++)
for (i=0; i < NumMyElements; i++)
SourceMultiVector[j][i] = (double) SourceMyGlobalElements[i]*(j+1);
// Create a target multivector that we will fill using an Import
Epetra_MultiVector TargetMultiVector(TargetMap, NumVectors);
Epetra_Import Importer(TargetMap, SourceMap);
EPETRA_TEST_ERR(!(TargetMultiVector.Import(SourceMultiVector, Importer, Insert)==0),ierr);
// Test Target against expected values
forierr = 0;
for (j=0; j < NumVectors; j++)
for (i=0; i < NumMyElements; i++) {
if (TargetMultiVector[j][i]!= (double) TargetMyGlobalElements[i]*(j+1))
cout << "TargetMultiVector["<<i<<"]["<<j<<"] = " << TargetMultiVector[j][i]
<< " TargetMyGlobalElements[i]*(j+1) = " << TargetMyGlobalElements[i]*(j+1) << endl;
forierr += !(TargetMultiVector[j][i]== (double) TargetMyGlobalElements[i]*(j+1));
}
EPETRA_TEST_ERR(forierr,ierr);
if (verbose) cout << "MultiVector Import using Importer Check OK" << endl << endl;
//////////////////////////////////////////////////////////////////////////////
// Now use Importer to do an export
Epetra_Vector TargetVector(SourceMap);
Epetra_Vector ExpectedTarget(SourceMap);
Epetra_Vector SourceVector(TargetMap);
NumSameIDs = Importer.NumSameIDs();
int NumPermuteIDs = Importer.NumPermuteIDs();
int NumExportIDs = Importer.NumExportIDs();
int *PermuteFromLIDs = Importer.PermuteFromLIDs();
int *ExportLIDs = Importer.ExportLIDs();
int *ExportPIDs = Importer.ExportPIDs();
for (i=0; i < NumSameIDs; i++) ExpectedTarget[i] = (double) (MyPID+1);
for (i=0; i < NumPermuteIDs; i++) ExpectedTarget[PermuteFromLIDs[i]] =
(double) (MyPID+1);
for (i=0; i < NumExportIDs; i++) ExpectedTarget[ExportLIDs[i]] +=
(double) (ExportPIDs[i]+1);
for (i=0; i < NumMyElements; i++) SourceVector[i] = (double) (MyPID+1);
EPETRA_TEST_ERR(!(TargetVector.Export(SourceVector, Importer, Add)==0),ierr);
forierr = 0;
for (i=0; i < NumMyElements; i++) {
if (TargetVector[i]!= ExpectedTarget[i])
cout << " TargetVector["<<i<<"] = " << TargetVector[i]
<< " ExpectedTarget["<<i<<"] = " << ExpectedTarget[i] << " on PE " << MyPID << endl;
forierr += !(TargetVector[i]== ExpectedTarget[i]);
}
EPETRA_TEST_ERR(forierr,ierr);
if (verbose) cout << "Vector Export using Importer Check OK" << endl << endl;
//////////////////////////////////////////////////////////////////////////////
// Now use Importer to create a reverse exporter
TargetVector.PutScalar(0.0);
Epetra_Export ReversedImport(Importer);
EPETRA_TEST_ERR(!(TargetVector.Export(SourceVector, ReversedImport, Add)==0),ierr);
forierr = 0;
for (i=0; i < NumMyElements; i++) {
if (TargetVector[i]!= ExpectedTarget[i])
cout << " TargetVector["<<i<<"] = " << TargetVector[i]
<< " ExpectedTarget["<<i<<"] = " << ExpectedTarget[i] << " on PE " << MyPID << endl;
forierr += !(TargetVector[i]== ExpectedTarget[i]);
}
EPETRA_TEST_ERR(forierr,ierr);
if (verbose) cout << "Vector Export using Reversed Importer Check OK" << endl << endl;
//////////////////////////////////////////////////////////////////////////////
// Now use Exporter to create a reverse importer
TargetVector.PutScalar(0.0);
Epetra_Import ReversedExport(ReversedImport);
EPETRA_TEST_ERR(!(TargetVector.Export(SourceVector, ReversedExport, Add)==0),ierr);
forierr = 0;
for (i=0; i < NumMyElements; i++) {
if (TargetVector[i]!= ExpectedTarget[i])
cout << " TargetVector["<<i<<"] = " << TargetVector[i]
<< " ExpectedTarget["<<i<<"] = " << ExpectedTarget[i] << " on PE " << MyPID << endl;
forierr += !(TargetVector[i]== ExpectedTarget[i]);
}
EPETRA_TEST_ERR(forierr,ierr);
if (verbose) cout << "Vector Export using Reversed Exporter Check OK" << endl << endl;
//////////////////////////////////////////////////////////////////////////////////////////
// Build a tridiagonal system two ways:
// 1) From "standard" matrix view where equations are uniquely owned.
// 2) From 1D PDE view where nodes (equations) between processors are shared and partial contributions are done
// in parallel, then merged together at the end of the construction process.
//
//////////////////////////////////////////////////////////////////////////////////////////
// Construct a Standard Map that puts approximately the same number of equations on each processor in
// uniform global ordering
Epetra_Map StandardMap(NumGlobalEquations, NumMyEquations, 0LL, Comm);
// Get update list and number of local equations from newly created Map
NumMyElements = StandardMap.NumMyElements();
long long * StandardMyGlobalElements = new long long[NumMyElements];
StandardMap.MyGlobalElements(StandardMyGlobalElements);
// Create a standard Epetra_CrsGraph
Epetra_CrsGraph StandardGraph(Copy, StandardMap, 3);
EPETRA_TEST_ERR(StandardGraph.IndicesAreGlobal(),ierr);
EPETRA_TEST_ERR(StandardGraph.IndicesAreLocal(),ierr);
// Add rows one-at-a-time
// Need some vectors to help
// Off diagonal Values will always be -1
long long *Indices = new long long[2];
int NumEntries;
forierr = 0;
for (i=0; i<NumMyEquations; i++)
{
if (StandardMyGlobalElements[i]==0)
{
Indices[0] = 1;
NumEntries = 1;
}
else if (StandardMyGlobalElements[i] == NumGlobalEquations-1)
{
Indices[0] = NumGlobalEquations-2;
NumEntries = 1;
}
else
{
Indices[0] = StandardMyGlobalElements[i]-1;
Indices[1] = StandardMyGlobalElements[i]+1;
NumEntries = 2;
}
forierr += !(StandardGraph.InsertGlobalIndices(StandardMyGlobalElements[i], NumEntries, Indices)==0);
forierr += !(StandardGraph.InsertGlobalIndices(StandardMyGlobalElements[i], 1, StandardMyGlobalElements+i)==0); // Put in the diagonal entry
}
EPETRA_TEST_ERR(forierr,ierr);
// Finish up
EPETRA_TEST_ERR(!(StandardGraph.IndicesAreGlobal()),ierr);
EPETRA_TEST_ERR(!(StandardGraph.FillComplete()==0),ierr);
EPETRA_TEST_ERR(!(StandardGraph.IndicesAreLocal()),ierr);
EPETRA_TEST_ERR(StandardGraph.StorageOptimized(),ierr);
StandardGraph.OptimizeStorage();
EPETRA_TEST_ERR(!(StandardGraph.StorageOptimized()),ierr);
EPETRA_TEST_ERR(StandardGraph.UpperTriangular(),ierr);
EPETRA_TEST_ERR(StandardGraph.LowerTriangular(),ierr);
// Create Epetra_CrsMatrix using the just-built graph
Epetra_CrsMatrix StandardMatrix(Copy, StandardGraph);
EPETRA_TEST_ERR(StandardMatrix.IndicesAreGlobal(),ierr);
EPETRA_TEST_ERR(!(StandardMatrix.IndicesAreLocal()),ierr);
// Add rows one-at-a-time
// Need some vectors to help
// Off diagonal Values will always be -1
double *Values = new double[2];
Values[0] = -1.0; Values[1] = -1.0;
double two = 2.0;
forierr = 0;
for (i=0; i<NumMyEquations; i++)
{
if (StandardMyGlobalElements[i]==0)
{
Indices[0] = 1;
NumEntries = 1;
}
else if (StandardMyGlobalElements[i] == NumGlobalEquations-1)
{
Indices[0] = NumGlobalEquations-2;
NumEntries = 1;
}
else
{
Indices[0] = StandardMyGlobalElements[i]-1;
Indices[1] = StandardMyGlobalElements[i]+1;
NumEntries = 2;
}
forierr += !(StandardMatrix.ReplaceGlobalValues(StandardMyGlobalElements[i], NumEntries, Values, Indices)==0);
// Put in the diagonal entry
forierr += !(StandardMatrix.ReplaceGlobalValues(StandardMyGlobalElements[i], 1, &two, StandardMyGlobalElements+i)==0);
}
EPETRA_TEST_ERR(forierr,ierr);
// Finish up
EPETRA_TEST_ERR(!(StandardMatrix.IndicesAreLocal()),ierr);
EPETRA_TEST_ERR(!(StandardMatrix.FillComplete()==0),ierr);
EPETRA_TEST_ERR(!(StandardMatrix.IndicesAreLocal()),ierr);
// EPETRA_TEST_ERR((StandardMatrix.StorageOptimized()),ierr);
EPETRA_TEST_ERR((StandardMatrix.OptimizeStorage()),ierr);
EPETRA_TEST_ERR(!(StandardMatrix.StorageOptimized()),ierr);
EPETRA_TEST_ERR(StandardMatrix.UpperTriangular(),ierr);
EPETRA_TEST_ERR(StandardMatrix.LowerTriangular(),ierr);
// Construct an Overlapped Map of StandardMap that include the endpoints from two neighboring processors.
int OverlapNumMyElements;
long long OverlapMinMyGID;
OverlapNumMyElements = NumMyElements + 1;
if (MyPID==0) OverlapNumMyElements--;
if (MyPID==0) OverlapMinMyGID = StandardMap.MinMyGID64();
else OverlapMinMyGID = StandardMap.MinMyGID64()-1;
long long * OverlapMyGlobalElements = new long long[OverlapNumMyElements];
for (i=0; i< OverlapNumMyElements; i++) OverlapMyGlobalElements[i] = OverlapMinMyGID + i;
Epetra_Map OverlapMap((long long) -1, OverlapNumMyElements, OverlapMyGlobalElements, 0LL, Comm);
// Create the Overlap Epetra_Matrix
Epetra_CrsMatrix OverlapMatrix(Copy, OverlapMap, 4);
EPETRA_TEST_ERR(OverlapMatrix.IndicesAreGlobal(),ierr);
EPETRA_TEST_ERR(OverlapMatrix.IndicesAreLocal(),ierr);
// Add matrix element one cell at a time.
// Each cell does an incoming and outgoing flux calculation
double pos_one = 1.0;
double neg_one = -1.0;
forierr = 0;
for (i=0; i<OverlapNumMyElements; i++)
{
long long node_left = OverlapMyGlobalElements[i]-1;
long long node_center = node_left + 1;
long long node_right = node_left + 2;
if (i>0) {
if (node_left>-1)
forierr += !(OverlapMatrix.InsertGlobalValues(node_center, 1, &neg_one, &node_left)==0);
forierr += !(OverlapMatrix.InsertGlobalValues(node_center, 1, &pos_one, &node_center)==0);
}
if (i<OverlapNumMyElements-1) {
forierr += !(OverlapMatrix.InsertGlobalValues(node_center, 1, &pos_one, &node_center)==0);
if (node_right<NumGlobalEquations)
forierr += !(OverlapMatrix.InsertGlobalValues(node_center, 1, &neg_one, &node_right)==0);
}
}
EPETRA_TEST_ERR(forierr,ierr);
// Handle endpoints
if (MyPID==0) {
long long node_center = 0;
EPETRA_TEST_ERR(!(OverlapMatrix.InsertGlobalValues(node_center, 1, &pos_one, &node_center)==0),ierr);
}
if (MyPID==NumProc-1) {
long long node_center = OverlapMyGlobalElements[OverlapNumMyElements-1];
EPETRA_TEST_ERR(!(OverlapMatrix.InsertGlobalValues(node_center, 1, &pos_one, &node_center)==0),ierr);
}
EPETRA_TEST_ERR(!(OverlapMatrix.FillComplete()==0),ierr);
// Make a gathered matrix from OverlapMatrix. It should be identical to StandardMatrix
Epetra_CrsMatrix GatheredMatrix(Copy, StandardGraph);
Epetra_Export Exporter(OverlapMap, StandardMap);
EPETRA_TEST_ERR(!(GatheredMatrix.Export(OverlapMatrix, Exporter, Add)==0),ierr);
EPETRA_TEST_ERR(!(GatheredMatrix.FillComplete()==0),ierr);
// Check if entries of StandardMatrix and GatheredMatrix are identical
int StandardNumEntries, GatheredNumEntries;
int * StandardIndices, * GatheredIndices;
double * StandardValues, * GatheredValues;
int StandardNumMyNonzeros = StandardMatrix.NumMyNonzeros();
int GatheredNumMyNonzeros = GatheredMatrix.NumMyNonzeros();
EPETRA_TEST_ERR(!(StandardNumMyNonzeros==GatheredNumMyNonzeros),ierr);
int StandardNumMyRows = StandardMatrix.NumMyRows();
int GatheredNumMyRows = GatheredMatrix.NumMyRows();
EPETRA_TEST_ERR(!(StandardNumMyRows==GatheredNumMyRows),ierr);
forierr = 0;
for (i=0; i< StandardNumMyRows; i++)
{
forierr += !(StandardMatrix.ExtractMyRowView(i, StandardNumEntries, StandardValues, StandardIndices)==0);
forierr += !(GatheredMatrix.ExtractMyRowView(i, GatheredNumEntries, GatheredValues, GatheredIndices)==0);
forierr += !(StandardNumEntries==GatheredNumEntries);
for (j=0; j < StandardNumEntries; j++) {
//if (StandardIndices[j]!=GatheredIndices[j])
// cout << "MyPID = " << MyPID << " i = " << i << " StandardIndices[" << j << "] = " << StandardIndices[j]
// << " GatheredIndices[" << j << "] = " << GatheredIndices[j] << endl;
//if (StandardValues[j]!=GatheredValues[j])
//cout << "MyPID = " << MyPID << " i = " << i << " StandardValues[" << j << "] = " << StandardValues[j]
// << " GatheredValues[" << j << "] = " << GatheredValues[j] << endl;
forierr += !(StandardIndices[j]==GatheredIndices[j]);
forierr += !(StandardValues[j]==GatheredValues[j]);
}
}
EPETRA_TEST_ERR(forierr,ierr);
if (verbose) cout << "Matrix Export Check OK" << endl << endl;
//Do Again with use of Epetra_OffsetIndex object for speed
Epetra_OffsetIndex OffsetIndex( OverlapMatrix.Graph(), GatheredMatrix.Graph(), Exporter );
EPETRA_TEST_ERR(!(GatheredMatrix.Export(OverlapMatrix, Exporter, Add)==0),ierr);
if (verbose) cout << "Optimized Matrix Export Check OK" << endl << endl;
bool passed;
Epetra_LongLongVector v1(StandardMap); v1.PutValue(2);
Epetra_LongLongVector v2(StandardMap); v2.PutValue(3);
Epetra_Export identExporter(StandardMap,StandardMap); // Identity exporter
EPETRA_TEST_ERR(!(v2.Export(v1, identExporter, Insert)==0),ierr);
passed = (v2.MinValue()==2);
EPETRA_TEST_ERR(!passed,ierr);
v1.PutValue(1);
Epetra_Import identImporter(StandardMap,StandardMap); // Identity importer
EPETRA_TEST_ERR(!(v2.Import(v1, identExporter, Insert)==0),ierr);
passed = passed && (v2.MaxValue()==1);
EPETRA_TEST_ERR(!passed,ierr);
if (verbose) {
if (passed) cout << "Identity Import/Export Check OK" << endl << endl;
else cout << "Identity Import/Export Check Failed" << endl << endl;
}
int NumSubMapElements = StandardMap.NumMyElements()/2;
int SubStart = Comm.MyPID();
NumSubMapElements = EPETRA_MIN(NumSubMapElements,StandardMap.NumMyElements()-SubStart);
Epetra_Map SubMap((long long) -1, NumSubMapElements, StandardMyGlobalElements+SubStart, 0LL, Comm);
Epetra_LongLongVector v3(View, SubMap, SubMap.MyGlobalElements64()); // Fill v3 with GID values for variety
Epetra_Export subExporter(SubMap, StandardMap); // Export to a subset of indices of standard map
EPETRA_TEST_ERR(!(v2.Export(v3,subExporter,Insert)==0),ierr);
forierr = 0;
for (i=0; i<SubMap.NumMyElements(); i++) {
int i1 = StandardMap.LID(SubMap.GID64(i));
forierr += !(v3[i]==v2[i1]);
}
EPETRA_TEST_ERR(forierr,ierr);
Epetra_Import subImporter(StandardMap, SubMap); // Import to a subset of indices of standard map
EPETRA_TEST_ERR(!(v1.Import(v3,subImporter,Insert)==0),ierr);
for (i=0; i<SubMap.NumMyElements(); i++) {
int i1 = StandardMap.LID(SubMap.GID64(i));
forierr += !(v3[i]==v1[i1]);
}
EPETRA_TEST_ERR(forierr,ierr);
if (verbose) {
if (forierr==0) cout << "SubMap Import/Export Check OK" << endl << endl;
else cout << "SubMap Import/Export Check Failed" << endl << endl;
}
#ifdef DOESNT_WORK_IN_PARALLEL
forierr = special_submap_import_test(Comm);
EPETRA_TEST_ERR(forierr, ierr);
if (verbose) {
if (forierr==0) cout << "Special SubMap Import Check OK" << endl << endl;
else cout << "Special SubMap Import Check Failed" << endl << endl;
}
#endif
forierr = alternate_import_constructor_test(Comm);
EPETRA_TEST_ERR(forierr, ierr);
if (verbose) {
if (forierr==0) cout << "Alternative Import Constructor Check OK" << endl << endl;
else cout << "Alternative Import Constructor Check Failed" << endl << endl;
}
// Release all objects
delete [] SourceMyGlobalElements;
delete [] TargetMyGlobalElements;
delete [] OverlapMyGlobalElements;
delete [] StandardMyGlobalElements;
delete [] Values;
delete [] Indices;
#ifdef EPETRA_MPI
MPI_Finalize() ;
#endif
/* end main
*/
return ierr ;
}