int main(){
Employe tmpA(12, "Tom");
std::cout << "Value: " << tmpA << std::endl;
Employe&& tmpB = std::move(tmpA);
std::cout << "Rvalue: " << tmpB << std::endl;
Employe_Test aTestEmploye(1, "theTest");
TValidator aValidate;
aValidate.validate("the test", aTestEmploye);
long long int x = 899877663ll;
LOG("x = %lld", x);
DefenderTest d;
AttackerTest a;
a.Move(15, 30);
d.Defence(15, 30);
a.SpeedUp(1.5f);
d.Defence(15,30);
Validator v;
v.Validate(7, 0, d);
v.Validate(1, -10, a);
std::cout << "funcT(int) : " << funcT(23, 67) << std::endl;
std::cout << "funcT(double) : " << funcT(23.56, 67.89) << std::endl;
//std::cout << "sizeof(m_pData) : " << sizeof(Test::m_pData) << std::endl;
//std::cout << "c11 sizeof(m_age) : " << sizeof(Test::m_age) << std::endl;
//std::cout << "c99 sizeof(m_age) : " << sizeof(((Test*)0)->m_age) << std::endl;
//std::cout << " cplusplus size: " << __cplusplus << std::endl;
return 0;
}
void Dispatch::distr(const std::vector< ::Cannon::Matrix> & mA, const std::vector< ::Cannon::Matrix> &mB, int time){
assert(nproc == mA.size());
for( int i= 0; i < nproc; i++){
Cannon::Matrix tmpA(mA[i]),tmpB(mB[i]);
processor[i]->begin_injectFirst(tmpA,time);
processor[i]->begin_injectSecond(tmpB,time);
}
}
VDStringW VDGetFullPath(const wchar_t *partialPath) {
static tpGetFullPathNameW spGetFullPathNameW = (tpGetFullPathNameW)GetProcAddress(GetModuleHandle("kernel32.dll"), "GetFullPathNameW");
union {
char a[MAX_PATH];
wchar_t w[MAX_PATH];
} tmpBuf;
if (spGetFullPathNameW && !(GetVersion() & 0x80000000)) {
LPWSTR p;
tmpBuf.w[0] = 0;
DWORD count = spGetFullPathNameW(partialPath, MAX_PATH, tmpBuf.w, &p);
if (count < MAX_PATH)
return VDStringW(tmpBuf.w);
VDStringW tmp(count);
DWORD newCount = spGetFullPathNameW(partialPath, count, (wchar_t *)tmp.data(), &p);
if (newCount < count)
return tmp;
return VDStringW(partialPath);
} else {
LPSTR p;
VDStringA pathA(VDTextWToA(partialPath));
tmpBuf.a[0] = 0;
DWORD count = GetFullPathNameA(pathA.c_str(), MAX_PATH, tmpBuf.a, &p);
if (count < MAX_PATH)
return VDStringW(VDTextAToW(tmpBuf.a));
VDStringA tmpA(count);
DWORD newCount = GetFullPathNameA(pathA.c_str(), count, (char *)tmpA.data(), &p);
if (newCount < count)
return VDTextAToW(tmpA);
return VDStringW(partialPath);
}
}
MatrixWrapper::ColumnVector nonLinearAnalyticConditionalGaussian::ExpectedValueGet() const
{
MatrixWrapper::ColumnVector state = ConditionalArgumentGet(0);
MatrixWrapper::ColumnVector angVel = ConditionalArgumentGet(1);
MatrixWrapper::Matrix identity(4,4);
identity.toIdentity();
// TODO I need state dimension here instead of hardcoding 4
MatrixWrapper::Matrix tmpA(4,4);
OmegaOperator(angVel, tmpA);
tmpA = tmpA*(0.5*m_threadPeriod);
// NOTE On 27/07/2015 I changed the sign before AdditiveNoiseMuGet() to a 'minus' according to Choukroun's derivation in Novel Methods for Attitude Determination using Vector Observations
// NOTE I think this is wrong!! as what I want to add here is noise with 0 mean and covariance Q^w_k!!!
MatrixWrapper::ColumnVector noise = AdditiveNoiseMuGet();
state = state + tmpA*state - noise;
// Normalizing the quaternion
MatrixWrapper::Quaternion tmpQuat(state);
tmpQuat.normalize();
// The other methods of the library use inputs of type ColumnVector, therefore a copy of the quaternion is necessary
MatrixWrapper::ColumnVector ret(tmpQuat);
return ret;
}
void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass )
{
const btTransform& trA = getCalculatedTransformA();
const btTransform& trB = getCalculatedTransformB();
btAssert(!m_useSolveConstraintObsolete);
int i, s = info->rowskip;
btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
// difference between frames in WCS
btVector3 ofs = trB.getOrigin() - trA.getOrigin();
// now get weight factors depending on masses
btScalar miA = rbAinvMass;
btScalar miB = rbBinvMass;
bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
btScalar miS = miA + miB;
btScalar factA, factB;
if(miS > btScalar(0.f))
{
factA = miB / miS;
}
else
{
factA = btScalar(0.5f);
}
factB = btScalar(1.0f) - factA;
btVector3 ax1, p, q;
btVector3 ax1A = trA.getBasis().getColumn(0);
btVector3 ax1B = trB.getBasis().getColumn(0);
if(m_useOffsetForConstraintFrame)
{
// get the desired direction of slider axis
// as weighted sum of X-orthos of frameA and frameB in WCS
ax1 = ax1A * factA + ax1B * factB;
ax1.normalize();
// construct two orthos to slider axis
btPlaneSpace1 (ax1, p, q);
}
else
{ // old way - use frameA
ax1 = trA.getBasis().getColumn(0);
// get 2 orthos to slider axis (Y, Z)
p = trA.getBasis().getColumn(1);
q = trA.getBasis().getColumn(2);
}
// make rotations around these orthos equal
// the slider axis should be the only unconstrained
// rotational axis, the angular velocity of the two bodies perpendicular to
// the slider axis should be equal. thus the constraint equations are
// p*w1 - p*w2 = 0
// q*w1 - q*w2 = 0
// where p and q are unit vectors normal to the slider axis, and w1 and w2
// are the angular velocity vectors of the two bodies.
info->m_J1angularAxis[0] = p[0];
info->m_J1angularAxis[1] = p[1];
info->m_J1angularAxis[2] = p[2];
info->m_J1angularAxis[s+0] = q[0];
info->m_J1angularAxis[s+1] = q[1];
info->m_J1angularAxis[s+2] = q[2];
info->m_J2angularAxis[0] = -p[0];
info->m_J2angularAxis[1] = -p[1];
info->m_J2angularAxis[2] = -p[2];
info->m_J2angularAxis[s+0] = -q[0];
info->m_J2angularAxis[s+1] = -q[1];
info->m_J2angularAxis[s+2] = -q[2];
// compute the right hand side of the constraint equation. set relative
// body velocities along p and q to bring the slider back into alignment.
// if ax1A,ax1B are the unit length slider axes as computed from bodyA and
// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
// if "theta" is the angle between ax1 and ax2, we need an angular velocity
// along u to cover angle erp*theta in one step :
// |angular_velocity| = angle/time = erp*theta / stepsize
// = (erp*fps) * theta
// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
// = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
// ...as ax1 and ax2 are unit length. if theta is smallish,
// theta ~= sin(theta), so
// angular_velocity = (erp*fps) * (ax1 x ax2)
// ax1 x ax2 is in the plane space of ax1, so we project the angular
// velocity to p and q to find the right hand side.
// btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
btScalar k = info->fps * currERP;
btVector3 u = ax1A.cross(ax1B);
info->m_constraintError[0] = k * u.dot(p);
info->m_constraintError[s] = k * u.dot(q);
if(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
{
info->cfm[0] = m_cfmOrthoAng;
info->cfm[s] = m_cfmOrthoAng;
}
int nrow = 1; // last filled row
int srow;
btScalar limit_err;
int limit;
int powered;
// next two rows.
// we want: velA + wA x relA == velB + wB x relB ... but this would
// result in three equations, so we project along two orthos to the slider axis
btTransform bodyA_trans = transA;
btTransform bodyB_trans = transB;
nrow++;
int s2 = nrow * s;
nrow++;
int s3 = nrow * s;
btVector3 tmpA(0,0,0), tmpB(0,0,0), relA(0,0,0), relB(0,0,0), c(0,0,0);
if(m_useOffsetForConstraintFrame)
{
// get vector from bodyB to frameB in WCS
relB = trB.getOrigin() - bodyB_trans.getOrigin();
// get its projection to slider axis
btVector3 projB = ax1 * relB.dot(ax1);
// get vector directed from bodyB to slider axis (and orthogonal to it)
btVector3 orthoB = relB - projB;
// same for bodyA
relA = trA.getOrigin() - bodyA_trans.getOrigin();
btVector3 projA = ax1 * relA.dot(ax1);
btVector3 orthoA = relA - projA;
// get desired offset between frames A and B along slider axis
btScalar sliderOffs = m_linPos - m_depth[0];
// desired vector from projection of center of bodyA to projection of center of bodyB to slider axis
btVector3 totalDist = projA + ax1 * sliderOffs - projB;
// get offset vectors relA and relB
relA = orthoA + totalDist * factA;
relB = orthoB - totalDist * factB;
// now choose average ortho to slider axis
p = orthoB * factA + orthoA * factB;
btScalar len2 = p.length2();
if(len2 > SIMD_EPSILON)
{
p /= btSqrt(len2);
}
else
{
p = trA.getBasis().getColumn(1);
}
// make one more ortho
q = ax1.cross(p);
// fill two rows
tmpA = relA.cross(p);
tmpB = relB.cross(p);
for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
tmpA = relA.cross(q);
tmpB = relB.cross(q);
if(hasStaticBody && getSolveAngLimit())
{ // to make constraint between static and dynamic objects more rigid
// remove wA (or wB) from equation if angular limit is hit
tmpB *= factB;
tmpA *= factA;
}
for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = tmpA[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i];
}
else
{ // old way - maybe incorrect if bodies are not on the slider axis
// see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0
c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
btVector3 tmp = c.cross(p);
for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
tmp = c.cross(q);
for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i];
}
// compute two elements of right hand side
// k = info->fps * info->erp * getSoftnessOrthoLin();
currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp;
k = info->fps * currERP;
btScalar rhs = k * p.dot(ofs);
info->m_constraintError[s2] = rhs;
rhs = k * q.dot(ofs);
info->m_constraintError[s3] = rhs;
if(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
{
info->cfm[s2] = m_cfmOrthoLin;
info->cfm[s3] = m_cfmOrthoLin;
}
// check linear limits
limit_err = btScalar(0.0);
limit = 0;
if(getSolveLinLimit())
{
limit_err = getLinDepth() * signFact;
limit = (limit_err > btScalar(0.0)) ? 2 : 1;
}
powered = 0;
if(getPoweredLinMotor())
{
powered = 1;
}
// if the slider has joint limits or motor, add in the extra row
if (limit || powered)
{
nrow++;
srow = nrow * info->rowskip;
info->m_J1linearAxis[srow+0] = ax1[0];
info->m_J1linearAxis[srow+1] = ax1[1];
info->m_J1linearAxis[srow+2] = ax1[2];
info->m_J2linearAxis[srow+0] = -ax1[0];
info->m_J2linearAxis[srow+1] = -ax1[1];
info->m_J2linearAxis[srow+2] = -ax1[2];
// linear torque decoupling step:
//
// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies
// do not create a torque couple. in other words, the points that the
// constraint force is applied at must lie along the same ax1 axis.
// a torque couple will result in limited slider-jointed free
// bodies from gaining angular momentum.
if(m_useOffsetForConstraintFrame)
{
// this is needed only when bodyA and bodyB are both dynamic.
if(!hasStaticBody)
{
tmpA = relA.cross(ax1);
tmpB = relB.cross(ax1);
info->m_J1angularAxis[srow+0] = tmpA[0];
info->m_J1angularAxis[srow+1] = tmpA[1];
info->m_J1angularAxis[srow+2] = tmpA[2];
info->m_J2angularAxis[srow+0] = -tmpB[0];
info->m_J2angularAxis[srow+1] = -tmpB[1];
info->m_J2angularAxis[srow+2] = -tmpB[2];
}
}
else
{ // The old way. May be incorrect if bodies are not on the slider axis
btVector3 ltd; // Linear Torque Decoupling vector (a torque)
ltd = c.cross(ax1);
info->m_J1angularAxis[srow+0] = factA*ltd[0];
info->m_J1angularAxis[srow+1] = factA*ltd[1];
info->m_J1angularAxis[srow+2] = factA*ltd[2];
info->m_J2angularAxis[srow+0] = factB*ltd[0];
info->m_J2angularAxis[srow+1] = factB*ltd[1];
info->m_J2angularAxis[srow+2] = factB*ltd[2];
}
// right-hand part
btScalar lostop = getLowerLinLimit();
btScalar histop = getUpperLinLimit();
if(limit && (lostop == histop))
{ // the joint motor is ineffective
powered = 0;
}
info->m_constraintError[srow] = 0.;
info->m_lowerLimit[srow] = 0.;
info->m_upperLimit[srow] = 0.;
currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
if(powered)
{
if(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
{
info->cfm[srow] = m_cfmDirLin;
}
btScalar tag_vel = getTargetLinMotorVelocity();
btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP);
info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps;
info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps;
}
if(limit)
{
k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
if(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
{
info->cfm[srow] = m_cfmLimLin;
}
if(lostop == histop)
{ // limited low and high simultaneously
info->m_lowerLimit[srow] = -SIMD_INFINITY;
info->m_upperLimit[srow] = SIMD_INFINITY;
}
else if(limit == 1)
{ // low limit
info->m_lowerLimit[srow] = -SIMD_INFINITY;
info->m_upperLimit[srow] = 0;
}
else
{ // high limit
info->m_lowerLimit[srow] = 0;
info->m_upperLimit[srow] = SIMD_INFINITY;
}
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that)
btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
if(bounce > btScalar(0.0))
{
btScalar vel = linVelA.dot(ax1);
vel -= linVelB.dot(ax1);
vel *= signFact;
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.
if(limit == 1)
{ // low limit
if(vel < 0)
{
btScalar newc = -bounce * vel;
if (newc > info->m_constraintError[srow])
{
info->m_constraintError[srow] = newc;
}
}
}
else
{ // high limit - all those computations are reversed
if(vel > 0)
{
btScalar newc = -bounce * vel;
if(newc < info->m_constraintError[srow])
{
info->m_constraintError[srow] = newc;
}
}
}
}
info->m_constraintError[srow] *= getSoftnessLimLin();
} // if(limit)
} // if linear limit
// check angular limits
limit_err = btScalar(0.0);
limit = 0;
if(getSolveAngLimit())
{
limit_err = getAngDepth();
limit = (limit_err > btScalar(0.0)) ? 1 : 2;
}
// if the slider has joint limits, add in the extra row
powered = 0;
if(getPoweredAngMotor())
{
powered = 1;
}
if(limit || powered)
{
nrow++;
srow = nrow * info->rowskip;
info->m_J1angularAxis[srow+0] = ax1[0];
info->m_J1angularAxis[srow+1] = ax1[1];
info->m_J1angularAxis[srow+2] = ax1[2];
info->m_J2angularAxis[srow+0] = -ax1[0];
info->m_J2angularAxis[srow+1] = -ax1[1];
info->m_J2angularAxis[srow+2] = -ax1[2];
btScalar lostop = getLowerAngLimit();
btScalar histop = getUpperAngLimit();
if(limit && (lostop == histop))
{ // the joint motor is ineffective
powered = 0;
}
currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
if(powered)
{
if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
{
info->cfm[srow] = m_cfmDirAng;
}
btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps;
info->m_upperLimit[srow] = getMaxAngMotorForce() * info->fps;
}
if(limit)
{
k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
if(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
{
info->cfm[srow] = m_cfmLimAng;
}
if(lostop == histop)
{
// limited low and high simultaneously
info->m_lowerLimit[srow] = -SIMD_INFINITY;
info->m_upperLimit[srow] = SIMD_INFINITY;
}
else if(limit == 1)
{ // low limit
info->m_lowerLimit[srow] = 0;
info->m_upperLimit[srow] = SIMD_INFINITY;
}
else
{ // high limit
info->m_lowerLimit[srow] = -SIMD_INFINITY;
info->m_upperLimit[srow] = 0;
}
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng());
if(bounce > btScalar(0.0))
{
btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
vel -= m_rbB.getAngularVelocity().dot(ax1);
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.
if(limit == 1)
{ // low limit
if(vel < 0)
{
btScalar newc = -bounce * vel;
if(newc > info->m_constraintError[srow])
{
info->m_constraintError[srow] = newc;
}
}
}
else
{ // high limit - all those computations are reversed
if(vel > 0)
{
btScalar newc = -bounce * vel;
if(newc < info->m_constraintError[srow])
{
info->m_constraintError[srow] = newc;
}
}
}
}
info->m_constraintError[srow] *= getSoftnessLimAng();
} // if(limit)
} // if angular limit or powered
}
void SurfaceTensionBoundaryCondition :: computeTangentFromElement(FloatMatrix &answer, Element *e, int side, TimeStep *tStep)
{
FEInterpolation *fei = e->giveInterpolation();
if ( !fei ) {
OOFEM_ERROR("No interpolation available for element.");
}
std :: unique_ptr< IntegrationRule > iRule( fei->giveBoundaryIntegrationRule(fei->giveInterpolationOrder()-1, side) );
int nsd = e->giveDomain()->giveNumberOfSpatialDimensions();
int nodes = e->giveNumberOfNodes();
if ( side == -1 ) {
side = 1;
}
answer.clear();
if ( nsd == 2 ) {
FEInterpolation2d *fei2d = static_cast< FEInterpolation2d * >(fei);
///@todo More of this grunt work should be moved to the interpolation classes
FloatMatrix xy(2, nodes);
Node *node;
for ( int i = 1; i <= nodes; i++ ) {
node = e->giveNode(i);
xy.at(1, i) = node->giveCoordinate(1);
xy.at(2, i) = node->giveCoordinate(2);
}
FloatArray tmpA(2 *nodes);
FloatArray es; // Tangent vector to curve
FloatArray dNds;
FloatMatrix B(2, 2 *nodes);
B.zero();
if ( e->giveDomain()->isAxisymmetric() ) {
FloatArray N;
FloatArray gcoords;
FloatArray tmpB(2 *nodes);
for ( GaussPoint *gp: *iRule ) {
fei2d->edgeEvaldNds( dNds, side, gp->giveNaturalCoordinates(), FEIElementGeometryWrapper(e) );
fei->boundaryEvalN( N, side, gp->giveNaturalCoordinates(), FEIElementGeometryWrapper(e) );
double J = fei->boundaryGiveTransformationJacobian( side, gp->giveNaturalCoordinates(), FEIElementGeometryWrapper(e) );
fei->boundaryLocal2Global( gcoords, side, gp->giveNaturalCoordinates(), FEIElementGeometryWrapper(e) );
double r = gcoords(0); // First coordinate is the radial coord.
es.beProductOf(xy, dNds);
// Construct the different matrices in the integrand;
for ( int i = 0; i < nodes; i++ ) {
tmpA(i * 2 + 0) = dNds(i) * es(0);
tmpA(i * 2 + 1) = dNds(i) * es(1);
tmpB(i * 2 + 0) = N(i);
tmpB(i * 2 + 1) = 0;
B(i * 2, 0) = B(i * 2 + 1, 1) = dNds(i);
}
double dV = 2 *M_PI *gamma *J *gp->giveWeight();
answer.plusDyadUnsym(tmpA, tmpB, dV);
answer.plusDyadUnsym(tmpB, tmpA, dV);
answer.plusProductSymmUpper(B, B, r * dV);
answer.plusDyadUnsym(tmpA, tmpA, -r * dV);
}
} else {
for ( GaussPoint *gp: *iRule ) {
double t = e->giveCrossSection()->give(CS_Thickness, gp); ///@todo The thickness is not often relevant or used in FM.
fei2d->edgeEvaldNds( dNds, side, gp->giveNaturalCoordinates(), FEIElementGeometryWrapper(e) );
double J = fei->boundaryGiveTransformationJacobian( side, gp->giveNaturalCoordinates(), FEIElementGeometryWrapper(e) );
es.beProductOf(xy, dNds);
// Construct the different matrices in the integrand;
for ( int i = 0; i < nodes; i++ ) {
tmpA(i * 2 + 0) = dNds(i) * es(0);
tmpA(i * 2 + 1) = dNds(i) * es(1);
B(i * 2, 0) = B(i * 2 + 1, 1) = dNds(i);
}
double dV = t * gamma * J * gp->giveWeight();
answer.plusProductSymmUpper(B, B, dV);
answer.plusDyadSymmUpper(tmpA, -dV);
}
}
answer.symmetrized();
} else if ( nsd == 3 ) {
FEInterpolation3d *fei3d = static_cast< FEInterpolation3d * >(fei);
OOFEM_ERROR("3D tangents not implemented yet.");
//FloatMatrix tmp(3 *nodes, 3 *nodes);
FloatMatrix dNdx;
FloatArray n;
for ( GaussPoint *gp: *iRule ) {
fei3d->surfaceEvaldNdx( dNdx, side, gp->giveNaturalCoordinates(), FEIElementGeometryWrapper(e) );
/*double J = */ fei->boundaryEvalNormal( n, side, gp->giveNaturalCoordinates(), FEIElementGeometryWrapper(e) );
//double dV = gamma * J * gp->giveWeight();
for ( int i = 0; i < nodes; i++ ) {
//tmp(3*i+0) = dNdx(i,0) - (dNdx(i,0)*n(0)* + dNdx(i,1)*n(1) + dNdx(i,2)*n(2))*n(0);
//tmp(3*i+1) = dNdx(i,1) - (dNdx(i,0)*n(0)* + dNdx(i,1)*n(1) + dNdx(i,2)*n(2))*n(1);
//tmp(3*i+2) = dNdx(i,2) - (dNdx(i,0)*n(0)* + dNdx(i,1)*n(1) + dNdx(i,2)*n(2))*n(2);
}
//answer.plusProductSymmUpper(A,B, dV);
///@todo Derive expressions for this.
}
} else {
OOFEM_WARNING("Only 2D or 3D is possible!");
}
}
lab1_4::LamVec* lab1_4::system::getResult()
{
LamVec *str = new LamVec;
std::vector<double> *res = new std::vector<double>(this->size, 0);
std::vector<std::vector<std::vector<double> >*> vecU;
double exz = 1000;
std::vector<std::vector<double> > aNew((*(this->a)));
while (exz > this->eps)
{
std::vector<std::vector<double> > aCopy(aNew);
std::vector<std::vector<double> > *u = new std::vector<std::vector<double> >(this->size, std::vector<double>(size, 0));
for (int i = 0; i < this->size; ++i)
(*(u))[i][i] = 1;
double max = aCopy[0][1];
int iMax = 0;
int jMax = 1;
for (int i = 0; i < this->size; ++i)
{
for (int j = 0; j < this->size; ++j)
{
if (i == j)
continue;
if (max < fabs(aCopy[i][j]))
{
max = fabs(aCopy[i][j]);
iMax = i;
jMax = j;
}
}
}
(*(u))[iMax][jMax] = -sin(0.5 * atan(2 * aCopy[iMax][jMax] / (aCopy[iMax][iMax] - aCopy[jMax][jMax])));
(*(u))[jMax][iMax] = sin(0.5 * atan(2 * aCopy[iMax][jMax] / (aCopy[iMax][iMax] - aCopy[jMax][jMax])));
(*(u))[iMax][iMax] = cos(0.5 * atan(2 * aCopy[iMax][jMax] / (aCopy[iMax][iMax] - aCopy[jMax][jMax])));
(*(u))[jMax][jMax] = cos(0.5 * atan(2 * aCopy[iMax][jMax] / (aCopy[iMax][iMax] - aCopy[jMax][jMax])));
/*for (int i = 0; i < this->size; ++i)
{
for (int j = 0; j < this->size; ++j)
{
std::cout << (*(u))[i][j] << " ";
}
std::cout << "\n";
}
std::cout << iMax << " " << jMax << "\n";*/
std::vector<std::vector<double> > tmpA(aCopy);
for (int i = 0; i < this->size; ++i)
{
for (int j = 0; j < this->size; ++j)
{
double tmp = 0;
for (int z = 0; z < this->size; ++z)
{
tmp += (*(u))[z][i] * aCopy[z][j];
}
tmpA[i][j] = tmp;
}
}
for (int i = 0; i < this->size; ++i)
{
for (int j = 0; j < this->size; ++j)
{
double tmp = 0;
for (int z = 0; z < this->size; ++z)
{
tmp += tmpA[i][z] * (*(u))[z][j];
}
aNew[i][j] = tmp;
}
}
exz = 0;
for (int i = 0; i < this->size; ++i)
{
for (int j = 0; j < i; ++j)
{
exz += pow(aNew[i][j], 2);
}
}
exz = pow(exz, 0.5);
std::cout << exz << " -exz\n";
/*for (int i = 0; i < this->size; ++i)
{
for (int j = 0; j < this->size; ++j)
{
std::cout << aNew[i][j] << " ";
}
std::cout << "\n";
}
std::cout << "\n";
std::cout << "=============\n";
std::cout << "\n";
_sleep(1000);*/
vecU.push_back(u);
}
str->vec = new std::vector<std::vector<double> >((*(vecU[0])));
for (int k = 1; k < vecU.size(); ++k)
{
std::vector<std::vector<double> > tmpV((*(str->vec)));
for (int i = 0; i < this->size; ++i)
{
for (int j = 0; j < this->size; ++j)
{
double tmp = 0;
for (int z = 0; z < this->size; ++z)
{
tmp += tmpV[i][z] * (*(vecU[k]))[z][j];
}
(*(str->vec))[i][j] = tmp;
}
}
}
for (int i = 0; i < vecU.size(); ++i)
{
delete vecU[i];
}
for (int i = 0; i < this->size; ++i)
{
(*(res))[i] = aNew[i][i];
}
str->lambda = res;
return str;
}
