//==============================================================================
void ReferentialSkeleton::registerBodyNode(BodyNode* _bn)
{
std::unordered_map<const BodyNode*, IndexMap>::iterator it =
mIndexMap.find(_bn);
if( it == mIndexMap.end() )
{
// Create an index map entry for this BodyNode, and only add the BodyNode's
// index to it.
IndexMap indexing;
mBodyNodes.push_back(_bn);
indexing.mBodyNodeIndex = mBodyNodes.size()-1;
mIndexMap[_bn] = indexing;
}
else
{
IndexMap& indexing = it->second;
if(INVALID_INDEX == indexing.mBodyNodeIndex)
{
mBodyNodes.push_back(_bn);
indexing.mBodyNodeIndex = mBodyNodes.size()-1;
}
}
updateCaches();
}
//==============================================================================
void ReferentialSkeleton::registerJoint(Joint* _joint)
{
BodyNode* bn = _joint->getChildBodyNode();
std::unordered_map<const BodyNode*, IndexMap>::iterator it =
mIndexMap.find(bn);
if( it == mIndexMap.end() )
{
// Create an index map entry for this Joint, and only add the Joint's index
// to it
IndexMap indexing;
mJoints.push_back(_joint);
indexing.mJointIndex = mJoints.size()-1;
mIndexMap[bn] = indexing;
}
else
{
IndexMap& indexing = it->second;
if(INVALID_INDEX == indexing.mJointIndex)
{
mJoints.push_back(_joint);
indexing.mJointIndex = mJoints.size()-1;
}
}
// Updating the caches isn't necessary after registering a joint right now,
// but it might matter in the future, so it might be better to be safe than
// sorry.
updateCaches();
}
//==============================================================================
void ReferentialSkeleton::unregisterBodyNode(
BodyNode* _bn, bool _unregisterDofs)
{
if(nullptr == _bn)
{
dterr << "[ReferentialSkeleton::unregisterBodyNode] Attempting to "
<< "unregister a nullptr BodyNode. This is most likely a bug. Please "
<< "report this!\n";
assert(false);
return;
}
std::unordered_map<const BodyNode*, IndexMap>::iterator it =
mIndexMap.find(_bn);
if( it == mIndexMap.end() )
{
dterr << "[ReferentialSkeleton::unregisterBodyNode] Attempting to "
<< "unregister a BodyNode that is not referred to by this "
<< "ReferentialSkeleton. This is most likely a bug. Please report "
<< "this!\n";
assert(false);
return;
}
IndexMap& indexing = it->second;
std::size_t bnIndex = indexing.mBodyNodeIndex;
mBodyNodes.erase(mBodyNodes.begin() + bnIndex);
indexing.mBodyNodeIndex = INVALID_INDEX;
for(std::size_t i=bnIndex; i < mBodyNodes.size(); ++i)
{
// Re-index all the BodyNodes in this ReferentialSkeleton which came after
// the one that was removed.
IndexMap& alteredIndexing = mIndexMap[mBodyNodes[i]];
alteredIndexing.mBodyNodeIndex = i;
}
if(_unregisterDofs)
{
for(std::size_t i=0; i < indexing.mDofIndices.size(); ++i)
{
if(indexing.mDofIndices[i] != INVALID_INDEX)
unregisterDegreeOfFreedom(_bn, i);
}
}
if(indexing.isExpired())
mIndexMap.erase(it);
updateCaches();
}
void Console::show() {
if (_visible)
return;
if (_neverShown)
_console->print("Type 'exit' to return to the game. Type 'help' for a list of commands.");
_console->show();
_visible = true;
_neverShown = false;
updateCaches();
showCallback();
}
//==============================================================================
void ReferentialSkeleton::unregisterJoint(BodyNode* _child)
{
if(nullptr == _child)
{
dterr << "[ReferentialSkeleton::unregisterJoint] Attempting to unregister "
<< "a Joint from a nullptr BodyNode. This is most likely a bug. "
<< "Please report this!\n";
assert(false);
return;
}
Joint* joint = _child->getParentJoint();
std::unordered_map<const BodyNode*, IndexMap>::iterator it =
mIndexMap.find(_child);
if( it == mIndexMap.end() || INVALID_INDEX == it->second.mJointIndex)
{
dterr << "[ReferentialSkeleton::unregisterJoint] Attempting to unregister "
<< "a Joint named [" << joint->getName() << "] (" << joint << "), "
<< "which is the parent Joint of BodyNode [" << _child->getName()
<< "] (" << _child << "), but the Joint is not currently in this "
<< "ReferentialSkeleton! This is most likely a bug. Please report "
<< "this!\n";
assert(false);
return;
}
std::size_t jointIndex = it->second.mJointIndex;
mJoints.erase(mJoints.begin() + jointIndex);
it->second.mJointIndex = INVALID_INDEX;
for(std::size_t i = jointIndex; i < mJoints.size(); ++i)
{
// Re-index all of the Joints in this ReferentialSkeleton which came after
// the Joint that was removed.
JointPtr alteredJoint = mJoints[i];
IndexMap& indexing = mIndexMap[alteredJoint.getBodyNodePtr()];
indexing.mJointIndex = i;
}
if(it->second.isExpired())
mIndexMap.erase(it);
// Updating the caches isn't necessary after unregistering a joint right now,
// but it might matter in the future, so it might be better to be safe than
// sorry.
updateCaches();
}
//==============================================================================
void ReferentialSkeleton::unregisterDegreeOfFreedom(
BodyNode* _bn, std::size_t _localIndex)
{
if(nullptr == _bn)
{
dterr << "[ReferentialSkeleton::unregisterDegreeOfFreedom] Attempting to "
<< "unregister a DegreeOfFreedom from a nullptr BodyNode. This is "
<< "most likely a bug. Please report this!\n";
assert(false);
return;
}
std::unordered_map<const BodyNode*, IndexMap>::iterator it =
mIndexMap.find(_bn);
if( it == mIndexMap.end() ||
it->second.mDofIndices.size() <= _localIndex ||
it->second.mDofIndices[_localIndex] == INVALID_INDEX)
{
dterr << "[ReferentialSkeleton::unregisterDegreeOfFreedom] Attempting to "
<< "unregister DegreeOfFreedom #" << _localIndex << " of a BodyNode "
<< "named [" << _bn->getName() << "] (" << _bn << "), but it is not "
<< "currently in the ReferentialSkeleton! This is most likely a bug. "
<< "Please report this!\n";
assert(false);
return;
}
std::size_t dofIndex = it->second.mDofIndices[_localIndex];
mDofs.erase(mDofs.begin() + dofIndex);
it->second.mDofIndices[_localIndex] = INVALID_INDEX;
for(std::size_t i = dofIndex; i < mDofs.size(); ++i)
{
// Re-index all the DOFs in this ReferentialSkeleton which came after the
// DOF that was removed.
DegreeOfFreedomPtr dof = mDofs[i];
IndexMap& indexing = mIndexMap[dof.getBodyNodePtr()];
indexing.mDofIndices[dof.getLocalIndex()] = i;
}
if(it->second.isExpired())
mIndexMap.erase(it);
updateCaches();
}
//==============================================================================
void ReferentialSkeleton::registerDegreeOfFreedom(DegreeOfFreedom* _dof)
{
BodyNode* bn = _dof->getChildBodyNode();
std::size_t localIndex = _dof->getIndexInJoint();
std::unordered_map<const BodyNode*, IndexMap>::iterator it =
mIndexMap.find(bn);
if( it == mIndexMap.end() )
{
// Create an index map entry for this DegreeOfFreedom, and only add the
// DegreeOfFreedom's index to it
IndexMap indexing;
indexing.mDofIndices.resize(localIndex+1, INVALID_INDEX);
mDofs.push_back(_dof);
indexing.mDofIndices[localIndex] = mDofs.size()-1;
mIndexMap[bn] = indexing;
}
else
{
IndexMap& indexing = it->second;
if(indexing.mDofIndices.size() < localIndex+1)
indexing.mDofIndices.resize(localIndex+1, INVALID_INDEX);
if(INVALID_INDEX == indexing.mDofIndices[localIndex])
{
mDofs.push_back(_dof);
indexing.mDofIndices[localIndex] = mDofs.size()-1;
}
}
updateCaches();
}
const Elem *
DiracKernel::addPoint(Point p, unsigned id)
{
if (id != libMesh::invalid_uint)
{
// OK, the user gave us an ID, let's see if we already have it...
point_cache_t::iterator it = _point_cache.find(id);
// Was the point found in a _point_cache on at least one processor?
unsigned int i_found_it = static_cast<unsigned int>(it != _point_cache.end());
unsigned int we_found_it = i_found_it;
comm().max(we_found_it);
// If the point was found in a cache, but not my cache, I'm not responsible for it.
if (we_found_it && !i_found_it)
return NULL;
// Now that we only cache local data, some processors may enter
// this if statement and some may not. Therefore we can't call
// any parallel_only() functions inside this if statement.
if (i_found_it)
{
// We have something cached, now make sure it's actually the same Point.
// TODO: we should probably use this same comparison in the DiracKernelInfo code!
Point cached_point = (it->second).second;
if (cached_point.relative_fuzzy_equals(p))
{
// Find the cached element associated to this point
const Elem * cached_elem = (it->second).first;
// If the cached element's processor ID doesn't match ours, we
// are no longer responsible for caching it. This can happen
// due to adaptivity...
if (cached_elem->processor_id() != processor_id())
{
// Update the caches, telling them to drop the cached Elem.
// Analogously to the rest of the DiracKernel system, we
// also return NULL because the Elem is non-local.
updateCaches(cached_elem, NULL, p, id);
return NULL;
}
bool active = cached_elem->active();
bool contains_point = cached_elem->contains_point(p);
// If the cached Elem is active and the point is still
// contained in it, call the other addPoint() method and
// return its result.
if (active && contains_point)
{
// FIXME/TODO:
// A given Point can be located in multiple elements if it
// is on an edge or a node in the grid. How are we handling
// that case? In other words, the same id would need to
// appear multiple times in the _point_cache object...
addPoint(cached_elem, p, id);
return cached_elem;
}
// Is the Elem not active (been refined) but still contains the point?
// Then search in its active children and update the caches.
else if (!active && contains_point)
{
// Get the list of active children
std::vector<const Elem*> active_children;
cached_elem->active_family_tree(active_children);
// Linear search through active children for the one that contains p
for (unsigned c=0; c<active_children.size(); ++c)
if (active_children[c]->contains_point(p))
{
updateCaches(cached_elem, active_children[c], p, id);
addPoint(active_children[c], p, id);
return active_children[c];
}
// If we got here without returning, it means the Point was
// found in the parent element, but not in any of the active
// children... this is not possible under normal
// circumstances, so something must have gone seriously
// wrong!
mooseError("Error, Point not found in any of the active children!");
}
else if (
// Is the Elem active but the point is not contained in it any
// longer? (For example, did the Mesh move out from under
// it?) Then we fall back to the expensive Point Locator
// lookup. TODO: we could try and do something more optimized
// like checking if any of the active neighbors contains the
// point. Update the caches.
(active && !contains_point) ||
// The Elem has been refined *and* the Mesh has moved out
// from under it, we fall back to doing the expensive Point
// Locator lookup. TODO: We could try and look in the
// active children of this Elem's neighbors for the Point.
// Update the caches.
(!active && !contains_point))
{
const Elem * elem = _dirac_kernel_info.findPoint(p, _mesh);
updateCaches(cached_elem, elem, p, id);
addPoint(elem, p, id);
return elem;
}
else
mooseError("We'll never get here!");
}
else
mooseError("Cached Dirac point " << cached_point << " already exists with ID: " << id << " and does not match point " << p);
}
}
// If we made it here, we either didn't have the point already cached or
// id == libMesh::invalid_uint. So now do the more expensive PointLocator lookup,
// possibly cache the result, and call the other addPoint() method.
const Elem * elem = _dirac_kernel_info.findPoint(p, _mesh);
// Only add the point to the cache on this processor if the Elem is local
if (elem && (elem->processor_id() == processor_id()) && (id != libMesh::invalid_uint))
{
// Add the point to the cache...
_point_cache[id] = std::make_pair(elem, p);
// ... and to the reverse cache.
std::vector<std::pair<Point, unsigned> > & points = _reverse_point_cache[elem];
points.push_back(std::make_pair(p, id));
}
// Call the other addPoint() method. This method ignores non-local
// and NULL elements automatically.
addPoint(elem, p, id);
return elem;
}
const Elem *
DiracKernel::addPointWithValidId(Point p, unsigned id)
{
// The Elem we'll eventually return. We can't return early on some
// processors, because we may need to call parallel_only() functions in
// the remainder of this scope.
const Elem * return_elem = NULL;
// May be set if the Elem is found in our cache, otherwise stays as NULL.
const Elem * cached_elem = NULL;
// OK, the user gave us an ID, let's see if we already have it...
point_cache_t::iterator it = _point_cache.find(id);
// Was the point found in a _point_cache on at least one processor?
unsigned int i_found_it = static_cast<unsigned int>(it != _point_cache.end());
unsigned int we_found_it = i_found_it;
comm().max(we_found_it);
// If nobody found it in their local caches, it means we need to
// do the PointLocator look-up and update the caches. This is
// safe, because all processors have the same value of we_found_it.
if (!we_found_it)
{
const Elem * elem = _dirac_kernel_info.findPoint(p, _mesh);
// Only add the point to the cache on this processor if the Elem is local
if (elem && (elem->processor_id() == processor_id()))
{
// Add the point to the cache...
_point_cache[id] = std::make_pair(elem, p);
// ... and to the reverse cache.
std::vector<std::pair<Point, unsigned>> & points = _reverse_point_cache[elem];
points.push_back(std::make_pair(p, id));
}
// Call the other addPoint() method. This method ignores non-local
// and NULL elements automatically.
addPoint(elem, p, id);
return_elem = elem;
}
// If the point was found in a cache, but not my cache, I'm not
// responsible for it.
//
// We can't return early here: then we aren't allowed to call any more
// parallel_only() functions in the remainder of this function!
if (we_found_it && !i_found_it)
return_elem = NULL;
// This flag may be set by the processor that cached the Elem because it
// needs to call findPoint() (due to moving mesh, etc.). If so, we will
// call it at the end of the while loop below.
bool i_need_find_point = false;
// Now that we only cache local data, some processors may enter
// this if statement and some may not. Therefore we can't call
// any parallel_only() functions inside this if statement.
while (i_found_it)
{
// We have something cached, now make sure it's actually the same Point.
// TODO: we should probably use this same comparison in the DiracKernelInfo code!
Point cached_point = (it->second).second;
if (cached_point.relative_fuzzy_equals(p))
{
// Find the cached element associated to this point
cached_elem = (it->second).first;
// If the cached element's processor ID doesn't match ours, we
// are no longer responsible for caching it. This can happen
// due to adaptivity...
if (cached_elem->processor_id() != processor_id())
{
// Update the caches, telling them to drop the cached Elem.
// Analogously to the rest of the DiracKernel system, we
// also return NULL because the Elem is non-local.
updateCaches(cached_elem, NULL, p, id);
return_elem = NULL;
break; // out of while loop
}
bool active = cached_elem->active();
bool contains_point = cached_elem->contains_point(p);
// If the cached Elem is active and the point is still
// contained in it, call the other addPoint() method and
// return its result.
if (active && contains_point)
{
addPoint(cached_elem, p, id);
return_elem = cached_elem;
break; // out of while loop
}
// Is the Elem not active (been refined) but still contains the point?
// Then search in its active children and update the caches.
else if (!active && contains_point)
{
// Get the list of active children
std::vector<const Elem *> active_children;
cached_elem->active_family_tree(active_children);
// Linear search through active children for the one that contains p
for (unsigned c = 0; c < active_children.size(); ++c)
if (active_children[c]->contains_point(p))
{
updateCaches(cached_elem, active_children[c], p, id);
addPoint(active_children[c], p, id);
return_elem = active_children[c];
break; // out of for loop
}
// If we got here without setting return_elem, it means the Point was
// found in the parent element, but not in any of the active
// children... this is not possible under normal
// circumstances, so something must have gone seriously
// wrong!
if (!return_elem)
mooseError("Error, Point not found in any of the active children!");
break; // out of while loop
}
else if (
// Is the Elem active but the point is not contained in it any
// longer? (For example, did the Mesh move out from under
// it?) Then we fall back to the expensive Point Locator
// lookup. TODO: we could try and do something more optimized
// like checking if any of the active neighbors contains the
// point. Update the caches.
(active && !contains_point) ||
// The Elem has been refined *and* the Mesh has moved out
// from under it, we fall back to doing the expensive Point
// Locator lookup. TODO: We could try and look in the
// active children of this Elem's neighbors for the Point.
// Update the caches.
(!active && !contains_point))
{
i_need_find_point = true;
break; // out of while loop
}
else
mooseError("We'll never get here!");
} // if (cached_point.relative_fuzzy_equals(p))
else
mooseError("Cached Dirac point ",
cached_point,
" already exists with ID: ",
id,
" and does not match point ",
p);
// We only want one iteration of this while loop at maximum.
i_found_it = false;
} // while (i_found_it)
// We are back to all processors here because we do not return
// early in the code above...
// Does we need to call findPoint() on all processors.
unsigned int we_need_find_point = static_cast<unsigned int>(i_need_find_point);
comm().max(we_need_find_point);
if (we_need_find_point)
{
// findPoint() is a parallel-only function
const Elem * elem = _dirac_kernel_info.findPoint(p, _mesh);
updateCaches(cached_elem, elem, p, id);
addPoint(elem, p, id);
return_elem = elem;
}
return return_elem;
}
