Cloth::Cloth(FXMVECTOR topLeftPostition, float height, float width, int numRows, int numColumns, float totalMass, float structuralStiffness, float structuralDamping, float shearStiffness, float shearDamping, float flexionStiffness, float flexionDamping) :
timeSpentCalculatingInternalForce(0.0), timeSpentCalculatingExternalForce(0.0) {
createParticles(topLeftPostition, height, width, totalMass);
createStructuralLinks(structuralStiffness, structuralDamping);
createShearLinks(shearStiffness, shearDamping);
createFlexionLinks(flexionStiffness, flexionDamping);
}
void Filtro_Particulas::spin()
{
ros::Rate loopRate(freq_);
while(n_.ok())
{
ros::spinOnce();
loopRate.sleep();
//cout<<free_ok_<<occ_ok_<<odom_ok_<<laser_ok_<<endl;
if (free_ok_ == true && occ_ok_ == true){
createParticles();
if(create_particle_ok_ == 0 && odom_ok_ == true && laser_ok_ == true && zerar_deltas_ == false){
pose_anterior_.x = pose_x_;
pose_anterior_.y = pose_y_;
pose_anterior_.theta = pose_theta_;
zerar_deltas_ = true;
moveParticles();
//cout<<"moveParticles()"<<endl;
}else if(create_particle_ok_ == 0 && odom_ok_ == true && laser_ok_ == true && zerar_deltas_ == true){
moveParticles();
}
}
}
}
/**
* Create Water Generic Emiter
*/
void createWaterEmiter(vec2 pos)
{
Emiter temp = createGenericEmiter(2, pos);
temp.ttlMax = ((float)rand()/(float)(RAND_MAX)) * (MAX_TTL_WATER - MIN_TTL_WATER) + MIN_TTL_WATER;
temp.nbParticle = rand() % (MAX_PARTICLE_WATER - MIN_PARTICLE_WATER) + MIN_PARTICLE_WATER;
createParticles(temp);
temp.ttlCurr = temp.ttlMax;
temp.ttlPrev = temp.ttlMax;
ParticleEmiters.push_back(temp);
}
/**
* Create FireWork Emiter
*/
void createFireWorkEmiter(vec2 pos)
{
Emiter temp = createGenericEmiter(1, pos);
temp.ttlMax = ((float)rand()/(float)(RAND_MAX)) * (MAX_TTL_FW - MIN_TTL_FW) + MIN_TTL_FW;
temp.nbParticle = rand() % (MAX_PARTICLE_FW - MIN_PARTICLE_FW) + MIN_PARTICLE_FW;
createParticles(temp);
temp.ttlCurr = temp.ttlMax;
temp.ttlPrev = temp.ttlMax;
ParticleEmiters.push_back(temp);
}
void GvParticle::update(float dt)
{
updateParticles(dt);
createParticles(dt*rate);
if (getNumParticles() > maxCount)
{
deleteParticles(getNumParticles() - maxCount);
}
}
//--------------------------------------------------------------
void AnimationParticlesMega2::VM_draw(float w, float h)
{
drawBackground(0);
m_resolution.set(w,h);
createParticles();
if (!m_isParticlesInit) return;
particleSystem.setTimeStep(timeStep);
m_particlesVbo.updateVertexData(m_particlesPos, kParticles*1024);
m_particlesVbo.updateColorData(m_particlesColor, kParticles*1024);
ofEnableAlphaBlending();
// ofSetColor(255, 255, 255, lineOpacity);
particleSystem.setupForces();
// apply per-particle forces
// glBegin(GL_LINES);
for(int i = 0; i < particleSystem.size(); i++)
{
Particle& cur = particleSystem[i];
// global force on other particles
//particleSystem.addRepulsionForce(cur, particleNeighborhood, particleRepulsion/100);
// forces on this particle
cur.bounceOffWalls(0, 0, w, h);
cur.addDampingForce();
}
// glEnd();
// single global forces
map<string,ParticleForce*>::iterator it = m_mapParticleForce.begin();
ParticleForce* pParticleForce=0;
for ( ; it != m_mapParticleForce.end() ; ++it)
{
pParticleForce = it->second;
particleSystem.m_color = m_isColorFromDevice ? pParticleForce->m_color : ofColor(255);
particleSystem.addAttractionForce(pParticleForce->m_anchor.x, pParticleForce->m_anchor.y, w, centerAttraction*m_ampAttraction);
particleSystem.addRepulsionForce(pParticleForce->m_anchor.x, pParticleForce->m_anchor.y, pParticleForce->m_volume*m_repulsionRadius, pParticleForce->m_volume*m_ampRepulsion, false);
particleSystem.addRepulsionForce(pParticleForce->m_anchor.x, pParticleForce->m_anchor.y, pParticleForce->m_volume*m_repulsionRadius*m_colorRadiusFactor, 0, true);
}
particleSystem.update();
ofSetColor(255, 255, 255, pointOpacity);
glPointSize(particleSystem.getParticleSize());
m_particlesVbo.draw(GL_POINTS,0,kParticles*1024);
// ofDisableAlphaBlending();
}
void ParticleGenerator::getFileInput(char* fileName, ParticleContainer* pc, Simulation *sim) {
double m = 1;
int num_cuboids = 0;
std::ifstream input_file(fileName);
string tmp_string;
if (input_file.is_open()) {
getline(input_file, tmp_string);
LOG4CXX_DEBUG(iolog, "Read line: " << tmp_string);
while (tmp_string.size() == 0 || tmp_string[0] == '#') {
getline(input_file, tmp_string);
LOG4CXX_DEBUG(iolog, "Read line: " << tmp_string);
}
istringstream numstream(tmp_string);
numstream >> num_cuboids;
LOG4CXX_DEBUG(iolog, "Reading " << num_cuboids << ".");
getline(input_file, tmp_string);
LOG4CXX_DEBUG(iolog, "Read line: " << tmp_string);
for (int i = 0; i < num_cuboids; i++) {
istringstream datastream(tmp_string);
for (int j = 0; j < 3; j++) {
datastream >> X[j];
}
for (int j = 0; j < 3; j++) {
datastream >> V[j];
}
for (int j = 0; j < 3; j++) {
datastream >> num[j];
}
if (datastream.eof()) {
LOG4CXX_ERROR(iolog, "Error reading file: eof reached unexpectedly reading from line " << i);
exit(-1);
}
datastream >> meanV;
datastream >> M;
datastream >> H;
// create particles from cuboid data
LOG4CXX_ERROR(particlelog, "Generating Cuboid...");
createParticles(pc);
getline(input_file, tmp_string);
}
} else {
cloth::cloth(float width, float height, int num_particles_x, int num_particles_y) : num_particles_width(num_particles_x), num_particles_height(num_particles_y)
{
faces.clear();
fixedParticles.clear();
particles.clear();
constraints.clear();
createParticles( width, height, num_particles_x, num_particles_y);
createSprings();
collisionFlag = false;
draw_wire = false;
clothThick = 0.1;
collisionChecker = new collisionDetector();
intersectQ=vec3(0,0,0);
iterativeTimes = 15;
}
//! read particles matching a specific PDG name and run id from supplied
// file. Must supply particle mass ourselves...
EventArray* readParticles(const std::string& file,
const std::string& particle,
const double mass, const std::string& runId) {
int resultCode(0);
size_t numberOf(0);
resultCode = countParticles(file, particle, runId, numberOf);
if (resultCode) {
std::cerr << "[pp6day3_muonanalysis:error] Failed to count particles in file "
<< file
<< std::endl;
return 0;
}
// With number of particles known, create the appropriately sized
// EventArray and fill it
return createParticles(file, numberOf, particle, mass, runId);
}
bool init(int argc, char *argv[]){
setDataDir(argc, argv);
initGLFW();
ogle::initGLEW();
bool found_extensions = checkExtensions();
if (!found_extensions)
return false;
ogle::Debug::init();
initGLSettings();
createParticles();
createBufferObject();
return true;
}
Cloth::Cloth(xml_node<>* clothParams) : timeSpentCalculatingInternalForce(0.0), timeSpentCalculatingExternalForce(0.0) {
float x, y, z, height, width, mass, stiffness, damping;
height = convertStringToNumber<float>(clothParams->first_attribute("height")->value());
width = convertStringToNumber<float>(clothParams->first_attribute("width")->value());
mass = convertStringToNumber<float>(clothParams->first_attribute("mass")->value());
windConstant = convertStringToNumber<float>(clothParams->first_attribute("wind_constant")->value());
xml_node<>* currentNode = clothParams->first_node("top_left_position");
x = convertStringToNumber<float>(currentNode->first_attribute("x")->value());
y = convertStringToNumber<float>(currentNode->first_attribute("y")->value());
z = convertStringToNumber<float>(currentNode->first_attribute("z")->value());
currentNode = clothParams->first_node("mesh_size");
rows = convertStringToNumber<int>(currentNode->first_attribute("rows")->value());
columns = convertStringToNumber<int>(currentNode->first_attribute("columns")->value());
XMVECTOR topLeft = XMVectorSet(x, y, z, 0.0f);
createParticles(topLeft, height, width, mass);
currentNode = clothParams->first_node("structural");
stiffness = convertStringToNumber<float>(currentNode->first_attribute("spring_coefficient")->value());
damping = convertStringToNumber<float>(currentNode->first_attribute("damping_coefficient")->value());
createStructuralLinks(stiffness, damping);
currentNode = clothParams->first_node("shear");
stiffness = convertStringToNumber<float>(currentNode->first_attribute("spring_coefficient")->value());
damping = convertStringToNumber<float>(currentNode->first_attribute("damping_coefficient")->value());
createShearLinks(stiffness, damping);
currentNode = clothParams->first_node("flexion");
stiffness = convertStringToNumber<float>(currentNode->first_attribute("spring_coefficient")->value());
damping = convertStringToNumber<float>(currentNode->first_attribute("damping_coefficient")->value());
createFlexionLinks(stiffness, damping);
currentNode = clothParams->first_node("wind_direction");
x = convertStringToNumber<float>(currentNode->first_attribute("x")->value());
y = convertStringToNumber<float>(currentNode->first_attribute("y")->value());
z = convertStringToNumber<float>(currentNode->first_attribute("z")->value());
windDirection = XMVectorSet(x, y, z, 0.0f);
}
int main(int argc, char** argv){
int i,j,k,l;
int timeStep=0;
int worldRank;
int worldSize;
double elapseTime;
clock_t start;
clock_t end;
float seconds1=0.00;
float seconds3=0.00;
int numParticle;
int dispParticle;
double distance;
double initialEnergy;
double energy;
double totalEnergy=0.00;
double localEnergy=0.00;
double globalEnergy;
double previousEnergy=0.00;
double fabGlobal;
double fabPrev;
particle p[N];
particle oldP[N];
int newX,newY,newZ;
//496 is derived from 32P2/2
int index1Pair[496];
int index2Pair[496];
MPI_Datatype particleType;
MPI_Datatype type[3]={MPI_DOUBLE,MPI_DOUBLE,MPI_DOUBLE};
int blocklen[3]={1,1,1};
MPI_Aint disp[3];
MPI_Aint extent;
//Initialize MPI
MPI_Init(&argc,&argv);
MPI_Comm_rank(MPI_COMM_WORLD,&worldRank);
MPI_Comm_size(MPI_COMM_WORLD,&worldSize);
MPI_Type_extent(MPI_DOUBLE,&extent);
disp[0]=0;
disp[1]=1*extent;
disp[2]=2*extent;
MPI_Type_struct(3,blocklen,disp,type,&particleType);
MPI_Type_commit(&particleType);
if(worldRank==0){
createParticles(p);
for(i=0;i<N;i++)
{
printf("Particle %d: X:%f,Y:%f,Z:%f\n",i,p[i].x,p[i].y,p[i].z);
}
}
while(1){
totalEnergy=0.00;
localEnergy=0.00;
globalEnergy=0.00;
//broadcast particle coordinates to all processors
MPI_Bcast(p,N,particleType, 0, MPI_COMM_WORLD);
/*assign number of particle to compute
particle decomposition technique is used
*/
numParticle =31;
dispParticle = worldRank*(numParticle);
//calculate total energy
//form array 1 that contains the index of first particle of a pair
l=0;
k=N-1;//-1 to exclude same index pair
for(i=0;i<N-1;i++){
for(j=0;j<k;j++){
index1Pair[l]=(N-1)-k+1;
l++;
}
k--;
}
//form array 2 that contains the index of second particle of a pair
l=0;
k=N-1;
for(i=0;i<N-1;i++){
for(j=0;j<k;j++){
index2Pair[l]=(N-1)-k+2+j;
l++;
}
k--;
}
for(i=0;i<numParticle;i++){
k=i+dispParticle;
distance = sqrt(pow(p[index1Pair[k]].x-p[index2Pair[k]].x,2.0)+pow(p[index1Pair[k]].y-p[index2Pair[k]].y,2.0)+pow(p[index1Pair[k]].z-p[index2Pair[k]].z,2.0));
if(distance == 0){
energy=0.00;
}
else
energy = 1/pow(distance,12.0)-1/pow(distance,6.0);
totalEnergy = totalEnergy + energy;
}
localEnergy = totalEnergy;
//sum of all energy
MPI_Allreduce(&localEnergy,&globalEnergy, 1, MPI_DOUBLE, MPI_SUM, MPI_COMM_WORLD);
if(timeStep ==0){
initialEnergy=globalEnergy;
}
if(timeStep ==0 && worldRank==0)
printf("Initial Energy= %f\n",initialEnergy);
if(timeStep ==0){
initialEnergy=fabs(globalEnergy);
}
//accept new coordinate if new state energy less than previous state
fabGlobal = fabs(globalEnergy);
fabPrev = fabs(previousEnergy);
if( fabGlobal < fabPrev || timeStep==50000){
if(fabGlobal <= (initialEnergy/4.00) && timeStep!=0 || timeStep ==50000){
if(worldRank==0){
printf("Solution is found after %d\n",timeStep);
printf("New Energy = %f\n",globalEnergy);
}
break;
}
}
else if(timeStep!=0){
//if(worldRank==0)
//printf("greater");
for(i=0;i<N;i++){
p[i].x=oldP[i].x;
p[i].y=oldP[i].y;
p[i].z=oldP[i].z;
}
}
previousEnergy = globalEnergy;
//save old coordinates before moving particles
for(i=0;i<N;i++){
oldP[i].x=p[i].x;
oldP[i].y=p[i].y;
oldP[i].z=p[i].z;
}
/*
MOVING PARTICLES
*/
if(worldRank==0){
srand (time(NULL));
for(i=0;i<N;i++){
int randX=rand() % 19 + (-9);
int randY=rand() % 19 + (-9);
int randZ=rand() % 19 + (-9);
newX = p[i].x*100 + randX*1;
newY = p[i].y*100 + randY*1;
newZ = p[i].z*100 + randZ*1;
if(newX<=900 && newX>=100)
p[i].x = (double)newX/100;
if(newY<=900 && newY>=100)
p[i].y = (double)newY/100;
if(newZ<=900 && newZ>=100)
p[i].z = (double)newZ/100;
}
}
timeStep++;
}
MPI_Finalize();
return 0;
}
void GvParticle::init()
{
clearParticles();
createParticles(startCount);
}
//--------------------------------------------------------------
void ofApp::update(){
//openCV update/////////////////////////////////////////////////////////////////////////////////////////////////////////
grabber.update(); //pull our next frame of video
image.setFromPixels(grabber.getPixelsRef()); //set our CV Color Image to have the same data as the current frame
greyImage = image; //convert our color image to grayscale
greyDiff.absDiff(greyBackground, greyImage);//compare the difference of the background to a greyed version
greyProcessed = greyDiff;//set our greyProcessed to the greyDiff
greyProcessed.threshold(250);//threshold for finding light this is set high so that it can find fine light points
contourFinder.findContours(greyProcessed, 40, (grabber.width*grabber.height)/2, maxBlobs, true);//using the graber find the contours of the blob
if(contourFinder.nBlobs == 1) // if the number of detected blobs is 1
{
drawPoint = true;//set draw point to be true to allow drawing
createAlphaTrail();
if(particles.size()<maxParticles)//if the size of the vector of particles is less than the max allowed particles
{
createParticles();//create particles
checkParticles();//check the size of the vector
}
}
else
{
drawPoint = false;//if none of the above is true then remain false to avoid drawing when nothing is detected
}
for(int i = 0; i < contourFinder.nBlobs; i++)//go throught the blobs and send the information to a location point
{
blobCenters[i] = contourFinder.blobs[i].centroid;
}
//openCV end////////////////////////////////////////////////////////////////////////////////////////////////////////////
//audio update//////////////////////////////////////////////////////////////////////////////////////////////////////////
scaledVol = ofMap(smoothedVol, 0.0, 0.17, 0.0, 1.0, true);//map the smoothed volume to a sensible set of integers
volHistory.push_back( scaledVol );//push the oldest volume recording in the vector
if( volHistory.size() >= 400 )//if the volume history hits the cap of 400 erase the oldest volume recording
{
checkFreq();//check the recorded amount of frequencies
}
//audio end////////////////////////////////////////////////////////////////////////////////////////////////////////////
//visuals update///////////////////////////////////////////////////////////////////////////////////////////////////////
for(int i = 0; i < particles.size(); i++)
{
particles[i].applyForce(wind);//apply the wind force to the big circle particles
particles[i].applyForce(gravity);//apply the gravity force to the big circle particles
particles[i].changeAlpha();//change the particle alpha
particles[i].particleFlow();//run the particle flow function on every particle
particles[i].particleMass = scaledVolInt;//set the current particles mass to be the current volume for variation
particles[i].update();//update particles
}
particleLoc = blobLocation;//particle location is equal to the location of the blob found using the camera (must update)
if(drawPoint)
{
screenFbo.begin();//start the FBO
if(fboTimer == 0)//if the timer is 0 clear the FBO to give it a delayed alpha trail effect
{
ofClear(255, 255, 255);//clear the screen of the old particles
fboTimer = 4;//after clearing reset the timer
}
screenFbo.end();//end the fbo
screenFbo.begin();
ofEnableAlphaBlending();
for(int i = 0; i < particles.size(); i++)//loop through and draw the particles
{
particles[i].draw();//draw the particles
particles[i].particleFlow();//call the flow function on the particles
}
screenFbo.end();
}
//VISUALS end/////////////////////////////////////////////////////////////////////////////////////////////////////////
}
