PRBool nsDisplayClip::OptimizeVisibility(nsDisplayListBuilder* aBuilder,
nsRegion* aVisibleRegion) {
nsRegion clipped;
clipped.And(*aVisibleRegion, mClip);
nsRegion rNew(clipped);
PRBool anyVisible = nsDisplayWrapList::OptimizeVisibility(aBuilder, &rNew);
nsRegion subtracted;
subtracted.Sub(clipped, rNew);
aVisibleRegion->SimpleSubtract(subtracted);
return anyVisible;
}
void SolverMCBF::runCycle()
{
// loop over Monte Carlo cycles
for (int cycle = 0; cycle < nCycles+nThermalize; cycle++)
{
// New position to test
for (int i = 0; i < nParticles; i++)
{
for (int j = 0; j < nDimensions; j++)
{
rNew(i,j) = rOld(i,j) + stepLength*(ran2(&idum) - 0.5);
}
wf->updatePositionAndCurrentParticle(rNew, i);
ratio = wf->getRatio(); // squared in Wavefunction
// Check for step acceptance (if yes, update position, if no, reset position)
if (ran2(&idum) <= ratio)
{
rOld.row(i) = rNew.row(i);
wf->acceptMove();
if (cycle > nThermalize) nAccepted++;
}
else
{
rNew.row(i) = rOld.row(i);
wf->rejectMove();
}
}
if (cycle >= nThermalize)
{
deltaE = localEnergy->evaluate(rNew, wf);
if (blocking)
logger->log(deltaE);
energySum += deltaE;
energySquaredSum += deltaE*deltaE;
if (minimizing)
{
tempVariationalGradient = wf->variationalDerivatives();
variationalGradientSum += tempVariationalGradient;
variationalGradientESum += tempVariationalGradient*deltaE;
}
}
}
}
//************************************************************
void MCIS::MetropolisAlgoIS(){
observables->initializeObservables(nCycles);
qForceOld = zeros<mat>(nParticles, nDimensions);
qForceNew = zeros<mat>(nParticles, nDimensions);
acceptedSteps=0;
rOld = randn(nParticles,nDimensions)*sqrt(timeStep); //std=sqrt(2*D*dt), D=0.5
rNew = rOld;
trialWavefunction->initializeWavefunction(rOld);
qForceOld = getQuantumForce(rOld);
// loop over Monte Carlo cycles
for(int cycle = 0; cycle < nCycles+thermalization; cycle++) {
// New position to test
for(int i = 0; i < nParticles; i++) {
for(int j = 0; j < nDimensions; j++) {
rNew(i,j) = rOld(i,j) + randn()*sqrt(timeStep)+qForceOld(i,j)*timeStep*D;
}
trialWavefunction->activeParticle(rNew,i);
trialWavefunction->updateWavefunction();
qForceNew=getQuantumForce(rNew);
//compute green's function ratio
GreensFunction=0;
for (int k = 0; k < nParticles; k++){
for(int l=0; l<nDimensions; l++){
GreensFunction+=(qForceOld(k,l)+qForceNew(k,l))*
(D*timeStep*0.5*(qForceOld(k,l)-qForceNew(k,l))-rNew(k,l)+rOld(k,l));
}
}
GreensFunction= exp(0.5*GreensFunction);
R =trialWavefunction->getRatio();
R*=R*GreensFunction;
if(ran2(&idum) <= R) {
trialWavefunction->acceptMove();
rOld.row(i) = rNew.row(i);
qForceOld=qForceNew;
if(cycle > thermalization){
acceptedSteps++;
}
} else {
trialWavefunction->rejectMove();
rNew.row(i) = rOld.row(i);
qForceNew=qForceOld;
}
}
// update energies
if(cycle > thermalization){
observables->currentConfiguration(rNew);
observables->calculateObservables();
}
}
acceptedSteps /= ((nCycles-1)*nParticles);
}
/**
* This method will get called on idle. This method should be responsible with doing the work that the application needs to do
* (i.e. run simulations, and so on).
*/
void ControllerEditor::processTask(){
double simulationTime = 0;
double maxRunningTime = 0.98/Globals::desiredFrameRate;
Vector3d backupInput;
bool once = false;
//if we still have time during this frame, or if we need to finish the physics step, do this until the simulation time reaches the desired value
while (simulationTime/maxRunningTime < Globals::animationTimeToRealTimeRatio){
simulationTime += SimGlobals::dt;
double phi = conF->getController()->getPhase();
lastFSMState = conF->getController()->getFSMState();
double signChange = (conF->getController()->getStance() == RIGHT_STANCE)?-1:1;
Globals::targetPosePhase = phi;
Tcl_UpdateLinkedVar( Globals::tclInterpreter, "targetPosePhase" );
// tprintf("d = %2.4lf, v = %2.4lf\n", conF->con->d.x, conF->con->v.x);
avgSpeed += conF->getCharacter()->getHeading().getComplexConjugate().rotate(conF->getCharacter()->getRoot()->getCMVelocity()).z;
timesVelSampled++;
if (conF) {
if( phi < dTrajX.getMaxPosition() ) {
dTrajX.clear();
dTrajZ.clear();
vTrajX.clear();
vTrajZ.clear();
}
Vector3d d = conF->getController()->d;
Vector3d v = conF->getController()->v;
dTrajX.addKnot( phi, d.x * signChange);
dTrajZ.addKnot( phi, d.z );
vTrajX.addKnot( phi, v.x * signChange );
vTrajZ.addKnot( phi, v.z );
bool newStep = conF->advanceInTime(SimGlobals::dt);
//int sign = -1;
double maxChange = 0.2;
char * s = "out\\reducedCharacterState.rs";
if (!once)
{
backupInput = conF->getCharacter()->getRoot()->getCMVelocity();
once = true;
}
if (newStep) {
avgSpeed /= timesVelSampled;
Vector3d v = conF->getLastStepTaken();
tprintf("step: %lf %lf %lf (phi = %lf, speed = %lf)\n", v.x, v.y, v.z, phi, avgSpeed);
//Globals::animationRunning = false;
//conF->getCharacter()->setHeading(.2);
RigidBody* bBall = InteractiveWorld::getBall();
if (bBall != NULL)
{
double q1 = bBall->getCMPosition().getZ();
double q2 = bBall->getCMPosition().getX();
double m1 = conF->getCharacter()->getRoot()->getCMPosition().getZ();
double m2 = conF->getCharacter()->getRoot()->getCMPosition().getX();
double q = (q2 - m2)/(q1 - m1);
double curr = SimGlobals::desiredHeading;
double diff = ( q - diff);
double dist = sqrt(pow((q2 - m2), 2) + pow((q1 - m1), 2));
if (dist < .4)
{
//s = "out\\reducedCharacterState1.rs";
tprintf("state changed once");
//Vector3d input=conF->getCharacter()->getRoot()->getCMVelocity() * 1.2;
//conF->getCharacter()->getRoot()->setCMVelocity(input);
//Vector3d d = conF->getController()->d;
//Vector3d v = conF->getController()->v;
//dTrajX.addKnot(phi, d.x * signChange);
//dTrajZ.addKnot(phi, d.z*2);
//vTrajX.addKnot(phi, v.x * signChange);
//vTrajZ.addKnot(phi, v.z*2);
//Character* bip = conF->getCharacter();
//SimBiController* con = new SimBiController(bip);
//char * fline = "../data/characters/fJog.rbs";
//FILE *f = fopen(fline, "r");
//SimBiConState* tempState;
//con->loadFromFile(line);
}
else
{
Vector3d input = backupInput;
conF->getCharacter()->getRoot()->setCMVelocity(input);
//s = "out\\reducedCharacterState.rs";
}
/*if (q > 0)
{
if (abs(diff) > .2)
{
conF->getCharacter()->setHeading(curr + maxChange);
//conF->getCharacter()->setHeading(q/3);
SimGlobals::desiredHeading = (curr + maxChange);
}
else
{
conF->getCharacter()->setHeading(q / 2);
//conF->getCharacter()->setHeading(q/3);
SimGlobals::desiredHeading = (q / 2);
}
}
else
{
if (abs(diff) > .2)
{
conF->getCharacter()->setHeading(curr - maxChange);
//conF->getCharacter()->setHeading(q/3);
SimGlobals::desiredHeading = (curr - maxChange);
}
else
{*/
q = atan(q);
conF->getCharacter()->setHeading(q );
//conF->getCharacter()->setHeading(q/3);
SimGlobals::desiredHeading = (q);
/*}
}*/
tprintf("step: %lf %lf %lf %lf %lf %lf %lf %lf %lf\n",dist ,curr, q, q1, q2, m1, m2, bBall->getOrientation().getV().getX(),bBall->getOrientation().getV().getZ());
}
avgSpeed = 0;
timesVelSampled = 0;
stepTaken();
//get the reversed new state...
DynamicArray<double> newState;
if (conF->getController()->getStance() == RIGHT_STANCE)
conF->getCharacter()->getReverseStanceState(&newState);
else
conF->getCharacter()->getState(&newState);
ReducedCharacterState rNew(&newState);
conF->getCharacter()->saveReducedStateToFile(s, newState);
}
// if (conF->getController()->isBodyInContactWithTheGround()){
// tprintf("Lost control of the biped...\n");
// Globals::animationRunning = false;
// break;
// }
// break;
}
}
}
