void
AAKR::normalize(Math::Matrix& mean, Math::Matrix& std)
{
// Resize mean and standard deviation variables.
mean.resizeAndFill(1, sampleSize(), 0);
std.resizeAndFill(1, sampleSize(), 0);
// Compute mean.
for (unsigned i = 0; i < sampleSize(); i++)
mean(i) = sum(m_data.get(0, m_num_values - 1, i, i)) / m_num_values;
// Compute standard deviation.
for (unsigned j = 0; j < sampleSize(); j++)
{
double sum = 0;
// Sum of the power of two difference
// between the value and the mean.
for (unsigned i = 0; i < m_num_values; i++)
sum += std::pow(m_data(i, j) - mean(j), 2);
// Standard deviation.
std(j) = std::sqrt(sum / m_num_values);
// Normalize each member of the data set.
for (unsigned i = 0; i < m_num_values; i++)
{
if (std(j))
m_norm(i, j) = (m_data(i, j) - mean(j)) / std(j);
else
m_norm(i, j) = 0;
}
}
}
TEST(MatrixTest, DetTest)
{
const Math::Matrix mat1(
{
{ -0.95880162984708284f, 0.24004047608997131f, -0.78172309932665407f, -0.11604124457222834f },
{ -0.36230592086261376f, -0.75778166876017261f, 0.33041059404631740f, -1.06001391941094836f },
{ 0.00260215210936187f, 1.27485610196385113f, -0.26149859846418033f, -0.59669701186364876f },
{ 0.36899429848485432f, 3.01720896813933104f, 2.10311476609438719f, -1.68627076626448269f }
}
);
const float expectedDet1 = 4.07415413729671f;
float ret1 = mat1.Det();
EXPECT_TRUE(Math::IsEqual(ret1, expectedDet1, TEST_TOLERANCE));
const Math::Matrix mat2(
{
{ -1.0860073221346871f, 0.9150354098189495f, -0.2723201933559999f, 0.2922832160271507f },
{ -1.0248331304801788f, -2.5081237461125205f, -1.0277123574586633f, -0.2254690663329798f },
{ -1.4227635282899367f, -0.0403846809122684f, 0.9216148477171653f, 1.2517067488015878f },
{ -0.1160254467152022f, 0.8270675274393656f, 1.0327218739781614f, -0.3674886870220400f }
}
);
const float expectedDet2 = -6.35122307880942f;
float ret2 = mat2.Det();
EXPECT_TRUE(Math::IsEqual(ret2, expectedDet2, TEST_TOLERANCE));
}
DWI2QBI (const Math::Matrix<value_type>& FRT_SHT, Math::Matrix<value_type>& normalise_SHT, const DWI::Shells& shells) :
FRT_SHT (FRT_SHT),
normalise_SHT (normalise_SHT),
shells (shells),
dwi (FRT_SHT.columns()),
qbi (FRT_SHT.rows()),
amps (normalise ? normalise_SHT.rows() : 0) { }
bool load_data (const Image::Iterator& pos) {
Image::voxel_assign (dwi, pos);
Image::voxel_assign (dt, pos);
size_t nvox = dwi.dim (row_axis);
if (mask) {
size_t N = 0;
Image::voxel_assign (*mask, pos);
for ((*mask)[row_axis] = 0; (*mask)[row_axis] < mask->dim(row_axis); ++(*mask)[row_axis])
if (mask->value())
++N;
nvox = N;
}
if (!nvox)
return false;
signals.allocate (nvox, dwi.dim (sig_axis));
logsignals.allocate (nvox, dwi.dim (sig_axis));
tensors.allocate (nvox, 7);
size_t N = 0;
for (dwi[row_axis] = 0; dwi[row_axis] < dwi.dim(row_axis); ++dwi[row_axis]) {
if (mask) {
(*mask)[row_axis] = dwi[row_axis];
if (!mask->value()) continue;
}
for (dwi[sig_axis] = 0; dwi[sig_axis] < dwi.dim(sig_axis); ++dwi[sig_axis]) {
cost_value_type val = std::max (cost_value_type (dwi.value()), cost_value_type (1.0));
signals(N, dwi[sig_axis]) = val;
logsignals(N, dwi[sig_axis]) = -Math::log (val);
}
++N;
}
return true;
}
void run ()
{
DWI::Tractography::Properties properties;
DWI::Tractography::Writer<> writer (argument.back(), properties);
for (size_t n = 0; n < argument.size()-1; n++) {
Math::Matrix<float> M;
try {
M.load (argument[n]);
if (M.columns() != 3)
throw Exception ("file \"" + argument[n] + "\" does not contain 3 columns - ignored");
DWI::Tractography::Streamline<float> tck (M.rows());
for (size_t i = 0; i < M.rows(); i++) {
tck[i].set (M (i,0), M (i,1), M (i,2));
}
writer (tck);
writer.total_count++;
}
catch (Exception) { }
}
}
TEST(MatrixTest, CofactorTest)
{
const Math::Matrix mat1(
{
{ 0.610630320796245f, 1.059932357918312f, -1.581674311378210f, 1.782214448453331f },
{ 0.191028848211526f, -0.813898708757524f, 1.516114203870644f, 0.395202639476002f },
{ 0.335142750345279f, -0.346586619596529f, 0.545382042472336f, -0.879268918923072f },
{ 1.417588151657198f, 1.450841789070141f, 0.219080104196171f, 0.378724047481655f }
}
);
const Math::Matrix expectedCofactors1(
{
{ -2.402679369186782f, 2.282452509293019f, 1.722732204057644f, -0.746939701104385f },
{ -0.687677756877654f, 1.168949180331164f, -0.985354966837796f, -1.334071111592705f },
{ -5.115621958424845f, 4.229724770159009f, 2.529000630782808f, 1.481632618355891f },
{ 0.147480897398694f, -2.140677680337111f, -1.207189492265546f, 0.151236920408051f }
}
);
for (int r = 0; r < 4; ++r)
{
for (int c = 0; c < 4; ++c)
{
float ret = mat1.Cofactor(r, c);
float exp = expectedCofactors1.m[4*c+r];
EXPECT_TRUE(Math::IsEqual(ret, exp, TEST_TOLERANCE));
}
}
const Math::Matrix mat2(
{
{ 0.9845099464982393f, -0.9091233416532389f, -0.6272243714245945f, 0.4645001858944354f },
{ -0.1333308471483736f, 0.9128181433725897f, -1.0937461393836190f, 0.3180936795928376f },
{ -0.0654324396846289f, 0.1014641705415945f, 1.5107709042683430f, -0.0240560430414690f },
{ 0.0179638644093347f, -1.0695585982782767f, -0.1741250853101032f, 1.0803106709464336f }
}
);
const Math::Matrix expectedCofactors2(
{
{ 2.0861102207614466f, 0.2989010779528912f, 0.0746276150537432f, 0.2732659822656097f },
{ 0.6850002886584565f, 1.5513169659641379f, -0.0503743176545917f, 1.5163672441575642f },
{ 1.2385556680997216f, 1.1827709562505695f, 1.2282813085138962f, 1.3483789679871401f },
{ -1.0710790241539783f, -0.5589604503588883f, 0.0100959837872308f, 1.1897872684455839f }
}
);
for (int r = 0; r < 4; ++r)
{
for (int c = 0; c < 4; ++c)
{
float ret = mat2.Cofactor(r, c);
float exp = expectedCofactors2.m[4*c+r];
EXPECT_TRUE(Math::IsEqual(ret, exp, TEST_TOLERANCE));
}
}
}
void CalibrationWnd::calcAdcI2Curr()
{
// Make linear assumption, e.i.
//I = a*adc + b*1;
Math::Matrix<2> XtX;
Math::Vector<2> XtY;
int sz = adcI.size();
for ( int i=0; i<2; i++ )
{
QVector<int> * a;
if ( i==0 )
a = &adcI;
else
a = 0;
for ( int j=0; j<2; j++ )
{
QVector<int> * b;
if ( j==0 )
b = &adcI;
else
b = 0;
qreal v = 0.0;
for ( int k=0; k<sz; k++ )
{
qreal va = ( a ) ? a->at( k ) : 1.0;
qreal vb = ( b ) ? b->at( k ) : 1.0;
v += va * vb;
}
XtX[i][j] = v;
}
qreal v = 0.0;
for ( int k=0; k<sz; k++ )
{
qreal va = ( a ) ? a->at( k ) : 1.0;
qreal vy = curr.at( k );
v += va * vy;
}
XtY[i] = v;
}
// A = (XtX)^-1 * XtY;
Math::Matrix<2> invXtX;
invXtX = XtX.inv();
Math::Vector<2> A;
for ( int i=0; i<2; i++ )
{
qreal v = 0.0;
for ( int j=0; j<2; j++ )
{
v += invXtX[i][j] * XtY[j];
}
A[i] = v;
}
aAdcI = A[0];
bAdcI = A[1];
}
void writeAsciiMatrix(const std::string& fname, const Math::Matrix<T,P,S>& M,
const std::string& meta, const bool trans = false) {
Math::Range start(0,0);
Math::Range end(M.rows(), M.cols());
std::ofstream ofs(fname.c_str());
if (!ofs.is_open())
throw(std::runtime_error("Cannot open " + fname + " for writing."));
MatrixWriteImpl<T,P,S,internal::BasicMatrixFormatter<T> >::write(ofs, M, meta, start, end, trans);
}
void
TestMatrix::runSubTest18(double& res, double& expected, std::string& subTestName)
{
expected = 1;
subTestName = "simple_symmetric_invert";
#ifdef COSMO_LAPACK
Math::SymmetricMatrix<double> mat(2, 2);
mat(0, 0) = 2;
mat(1, 1) = 3;
mat(1, 0) = 1;
mat.writeIntoTextFile("test_files/matrix_test_18_original.txt");
Math::SymmetricMatrix<double> invMat = mat;
invMat.invert();
invMat.writeIntoTextFile("test_files/matrix_test_18_inverse.txt");
Math::Matrix<double> prod = mat;
prod *= invMat;
prod.writeIntoTextFile("test_files/matrix_test_18_product.txt");
res = 1;
for(int i = 0; i < prod.rows(); ++i)
{
for(int j = 0; j < prod.rows(); ++j)
{
if(i == j)
{
if(!Math::areEqual(prod(i, j), 1.0, 1e-5))
{
output_screen("FAIL! Diagonal element " << i << " must be 1 but it is " << prod(i, j) << std::endl);
res = 0;
}
}
else
{
if(!Math::areEqual(prod(i, j), 0.0, 1e-5))
{
output_screen("FAIL! Non-diagonal element " << i << " " << j << " must be 0 but it is " << prod(i, j) << std::endl);
res = 0;
}
}
}
}
#else
output_screen_clean("This test (below) is skipped because Cosmo++ has not been linked to lapack" << std::endl);
res = 1;
#endif
}
void run()
{
InputBufferType dwi_buffer (argument[0], Image::Stride::contiguous_along_axis (3));
Math::Matrix<cost_value_type> grad = DWI::get_valid_DW_scheme<cost_value_type> (dwi_buffer);
size_t dwi_axis = 3;
while (dwi_buffer.dim (dwi_axis) < 2) ++dwi_axis;
INFO ("assuming DW images are stored along axis " + str (dwi_axis));
Math::Matrix<cost_value_type> bmatrix;
DWI::grad2bmatrix (bmatrix, grad);
Math::Matrix<cost_value_type> binv (bmatrix.columns(), bmatrix.rows());
Math::pinv (binv, bmatrix);
int method = 1;
Options opt = get_options ("method");
if (opt.size()) method = opt[0][0];
opt = get_options ("regularisation");
cost_value_type regularisation = 5000.0;
if (opt.size()) regularisation = opt[0][0];
opt = get_options ("mask");
Ptr<MaskBufferType> mask_buffer;
Ptr<MaskBufferType::voxel_type> mask_vox;
if (opt.size()){
mask_buffer = new MaskBufferType (opt[0][0]);
Image::check_dimensions (*mask_buffer, dwi_buffer, 0, 3);
mask_vox = new MaskBufferType::voxel_type (*mask_buffer);
}
Image::Header dt_header (dwi_buffer);
dt_header.set_ndim (4);
dt_header.dim (3) = 6;
dt_header.datatype() = DataType::Float32;
dt_header.DW_scheme() = grad;
OutputBufferType dt_buffer (argument[1], dt_header);
InputBufferType::voxel_type dwi_vox (dwi_buffer);
OutputBufferType::voxel_type dt_vox (dt_buffer);
Image::ThreadedLoop loop ("estimating tensor components...", dwi_vox, 1, 0, 3);
Processor processor (dwi_vox, dt_vox, mask_vox, bmatrix, binv, method, regularisation, loop.inner_axes()[0], dwi_axis);
loop.run_outer (processor);
}
TEST(MatrixTest, InverseTest)
{
const Math::Matrix mat1(
{
{ -2.2829352811514658f, -0.9103222363187888f, 0.2792976509411680f, -0.7984393573193174f },
{ 2.4823665798689589f, -0.0599056759070980f, 0.3832364352926366f, -1.6404257204372739f },
{ -0.3841952272526398f, -0.8377700696457873f, -0.3416328338427138f, 1.1746577275723329f },
{ 0.1746031241954947f, -0.4952532117949962f, 0.2155084379835037f, -1.6586460437329220f }
}
);
const Math::Matrix expectedInverse1(
{
{ -0.119472603171041f, 0.331675963276297f, 0.187516809009720f, -0.137720814290806f },
{ -0.387591686166085f, -0.487284946727583f, -0.798527541290274f, 0.102991635972060f },
{ 2.601905603425902f, 2.606899016264679f, -0.528006148839176f, -4.204703326522837f },
{ 0.441220327151392f, 0.519128136207318f, 0.189567009205522f, -1.194469716136194f }
}
);
Math::Matrix inverse1 = mat1.Inverse();
EXPECT_TRUE(Math::MatricesEqual(inverse1, expectedInverse1, TEST_TOLERANCE));
const Math::Matrix mat2(
{
{ -0.05464332404298505f, -0.64357755258235749f, -0.13017671677619302f, -0.56742332785888006f },
{ 0.29048383600458222f, -0.91517047043724875f, 0.84517524415561684f, 0.51628195547960565f },
{ 0.00946488004480186f, -0.89077382212689293f, 0.73565573766341397f, -0.15932513521840930f },
{ -1.01244718912499132f, -0.27840911963972276f, -0.39189681211309862f, 1.18315064340192055f }
}
);
const Math::Matrix expectedInverse2(
{
{ 0.771302711132012f, 1.587542278361995f, -2.003075114445104f, -0.592574156227379f },
{ -1.208929259769431f, -0.786598967848473f, 0.607335305808052f, -0.154759693303324f },
{ -1.500037668208218f, -0.774300278997914f, 1.917800427261255f, -0.123268572651291f },
{ -0.121314770937944f, 0.916925149209746f, -0.935924950785014f, 0.260875394250671f }
}
);
Math::Matrix inverse2 = mat2.Inverse();
EXPECT_TRUE(Math::MatricesEqual(inverse2, expectedInverse2, TEST_TOLERANCE));
}
void
AAKR::computeDistance(Math::Matrix query)
{
if (query.rows() != 1)
throw std::runtime_error("unable to compute distance: reference is not row vector.");
if ((unsigned)query.columns() != sampleSize())
throw std::runtime_error("unable to compute distance: sample size does not match.");
m_distances.fill(0.0);
// Fill distances vector.
for (unsigned i = 0; i < m_num_values; i++)
{
Math::Matrix q = query - m_norm.row(i);
m_distances(i) = std::sqrt(sum(q * transpose(q)));
};
}
void Render(Gfx::CGLDevice *device, Gfx::CModelFile *modelFile)
{
device->BeginScene();
Math::Matrix persp;
Math::LoadProjectionMatrix(persp, Math::PI / 4.0f, (800.0f) / (600.0f), 0.1f, 100.0f);
device->SetTransform(Gfx::TRANSFORM_PROJECTION, persp);
Math::Matrix id;
id.LoadIdentity();
device->SetTransform(Gfx::TRANSFORM_WORLD, id);
Math::Matrix viewMat;
Math::LoadTranslationMatrix(viewMat, TRANSLATION);
Math::Matrix rot;
Math::LoadRotationXZYMatrix(rot, ROTATION);
viewMat = Math::MultiplyMatrices(viewMat, rot);
device->SetTransform(Gfx::TRANSFORM_VIEW, viewMat);
const std::vector<Gfx::ModelTriangle> &triangles = modelFile->GetTriangles();
Gfx::VertexTex2 tri[3];
for (int i = 0; i < static_cast<int>( triangles.size() ); ++i)
{
device->SetTexture(0, GetTexture(triangles[i].tex1Name));
device->SetTexture(1, GetTexture(triangles[i].tex2Name));
device->SetTextureEnabled(0, true);
device->SetTextureEnabled(1, true);
device->SetMaterial(triangles[i].material);
tri[0] = triangles[i].p1;
tri[1] = triangles[i].p2;
tri[2] = triangles[i].p3;
device->DrawPrimitive(Gfx::PRIMITIVE_TRIANGLES, tri, 3);
}
device->EndScene();
}
void
AAKR::add(Math::Matrix v)
{
if (dataSize() == 0)
throw std::runtime_error("unable to add: data window size is undefined.");
if (v.rows() != 1)
throw std::runtime_error("unable to add: new sample is not a row vector.");
if (sampleSize() == 0)
m_data.resize(dataSize(), v.columns());
if ((unsigned)v.columns() != sampleSize())
throw std::runtime_error("unable to add: sample size does not match.");
// Write to the data set.
m_data.set(m_index, m_index, 0, sampleSize() - 1, v);
// Increment data set index.
increment();
}
void TSmatrix::testInversion()
{
Math::Matrix m = Math::Matrix::zeros(4,4);
for (int i=0; i<3; i++)
for (int j=0; j<3; j++)
if (j<=i)
m(i,j) = 1;
m(3,3) = 1;
Math::Matrix minv(4,4);
Math::Matrix::invert(m, minv);
Math::Matrix identity = Math::Matrix::eye(4);
Math::Matrix minv2(4,4);
m.linearSolve(minv2, identity);
minv.sub(minv2);
for (int i=0;i<4;i++)
for (int j=0;j<4;j++)
TEST_ASSERT(fabs(minv(i,j)) < 0.0001);
}
void run ()
{
Math::Matrix<value_type> directions = DWI::Directions::load_cartesian<value_type> (argument[0]);
size_t num_permutations = 1e8;
Options opt = get_options ("permutations");
if (opt.size())
num_permutations = opt[0][0];
Shared eddy_shared (directions, num_permutations);
Thread::run (Thread::multi (Processor (eddy_shared)), "eval thread");
auto& signs = eddy_shared.get_best_signs();
for (size_t n = 0; n < directions.rows(); ++n)
if (signs[n] < 0)
directions.row(n) *= -1.0;
bool cartesian = get_options("cartesian").size();
DWI::Directions::save (directions, argument[1], cartesian);
}
void solve_nonlinear () {
for (size_t i = 0; i < signals.rows(); ++i) {
const Math::Vector<cost_value_type> signal (signals.row(i));
Math::Vector<cost_value_type> values (tensors.row(i));
cost.set_voxel (&signal, &values);
Math::Vector<cost_value_type> x (cost.size());
cost.init (x);
//Math::check_function_gradient (cost, x, 1e-10, true);
Math::GradientDescent<Cost> optim (cost);
try { optim.run (10000, 1e-8); }
catch (Exception& E) {
E.display();
}
//x = optim.state();
//Math::check_function_gradient (cost, x, 1e-10, true);
cost.get_values (values, optim.state());
}
}
void verify_matrix (Math::Matrix<float>& in, const node_t num_nodes)
{
if (in.rows() != in.columns())
throw Exception ("Connectome matrix is not square (" + str(in.rows()) + " x " + str(in.columns()) + ")");
if (in.rows() != num_nodes)
throw Exception ("Connectome matrix contains " + str(in.rows()) + " nodes; expected " + str(num_nodes));
for (node_t row = 0; row != num_nodes; ++row) {
for (node_t column = row+1; column != num_nodes; ++column) {
const float lower_value = in (column, row);
const float upper_value = in (row, column);
if (upper_value && lower_value && (upper_value != lower_value))
throw Exception ("Connectome matrix is not symmetrical");
if (!upper_value && lower_value)
in (row, column) = lower_value;
in (column, row) = 0.0f;
} }
}
void save_bvecs_bvals (const Image::Header& header, const std::string& path)
{
std::string bvecs_path, bvals_path;
if (path.size() >= 5 && path.substr (path.size() - 5, path.size()) == "bvecs") {
bvecs_path = path;
bvals_path = path.substr (0, path.size() - 5) + "bvals";
} else if (path.size() >= 5 && path.substr (path.size() - 5, path.size()) == "bvals") {
bvecs_path = path.substr (0, path.size() - 5) + "bvecs";
bvals_path = path;
} else {
bvecs_path = path + "bvecs";
bvals_path = path + "bvals";
}
const Math::Matrix<float>& grad (header.DW_scheme());
Math::Matrix<float> G (grad.rows(), 3);
// rotate vectors from scanner space to image space
Math::Matrix<float> D (header.transform());
Math::Permutation p (4);
int signum;
Math::LU::decomp (D, p, signum);
Math::Matrix<float> image2scanner (4,4);
Math::LU::inv (image2scanner, D, p);
Math::Matrix<float> rotation = image2scanner.sub (0,3,0,3);
Math::Matrix<float> grad_G = grad.sub (0, grad.rows(), 0, 3);
Math::mult (G, float(0.0), float(1.0), CblasNoTrans, grad_G, CblasTrans, rotation);
// deal with FSL requiring gradient directions to coincide with data strides
// also transpose matrices in preparation for file output
std::vector<size_t> order = Image::Stride::order (header, 0, 3);
Math::Matrix<float> bvecs (3, grad.rows());
Math::Matrix<float> bvals (1, grad.rows());
for (size_t n = 0; n < G.rows(); ++n) {
bvecs(0,n) = header.stride(order[0]) > 0 ? G(n,order[0]) : -G(n,order[0]);
bvecs(1,n) = header.stride(order[1]) > 0 ? G(n,order[1]) : -G(n,order[1]);
bvecs(2,n) = header.stride(order[2]) > 0 ? G(n,order[2]) : -G(n,order[2]);
bvals(0,n) = grad(n,3);
}
bvecs.save (bvecs_path);
bvals.save (bvals_path);
}
void run ()
{
try {
Math::Matrix<value_type> directions = DWI::Directions::load_cartesian<value_type> (argument[0]);
report (str(argument[0]), directions);
}
catch (Exception& E) {
Math::Matrix<value_type> directions (str(argument[0]));
DWI::normalise_grad (directions);
if (directions.columns() < 3)
throw Exception ("unexpected matrix size for DW scheme \"" + str(argument[0]) + "\"");
print (str(argument[0]) + " [ " + str(directions.rows()) + " volumes ]\n");
DWI::Shells shells (directions);
for (size_t n = 0; n < shells.count(); ++n) {
Math::Matrix<value_type> subset (shells[n].count(), 3);
for (size_t i = 0; i < subset.rows(); ++i)
subset.row(i) = directions.row(shells[n].get_volumes()[i]).sub(0,3);
report ("\nb = " + str(shells[n].get_mean()), subset);
}
}
}
//==============================================================================
//捕獲判定ボックスの生成
//==============================================================================
//[input]
// pCam:カメラクラス
//==============================================================================
void CPlayer::CreateShootBox( CCamera *pCam, CSceneManager *pSceneMgr )
{
Math::Matrix matTemp;
Math::Matrix matWorld;
/*初期化*/
matTemp.Identity();
matWorld.Identity();
//matWorld = pCam->GetCamera()->WorldToView();
//GetModelActor( 0 )->Collision_Check(
//matWorld = pCam->GetCamera()->WorldToView();
///*X軸回転*/
matTemp.RotationX( toI( pCam->GetRotate().x ) );
//
matWorld *= matTemp;
//
///*Y軸回転*/
matTemp.RotationY( toI( m_Rot.x - DEG_TO_ANGLE( 180 ) ) );
matWorld *= matTemp;
/*移動*/
matTemp.Translation( m_vPos.x, m_vPos.y, m_vPos.z );
matWorld *= matTemp;
//Math::Vector3D vPt1 = pSceneMgr->GetSceneMgr()->TransformFromScreen( Math::Vector3D( 0, 0, 0 ) );
//Math::Vector3D vPt2 = pSceneMgr->GetSceneMgr()->TransformFromScreen( Math::Vector3D( SCREEN_WIDTH, SCREEN_HEIGHT, 2.0f ) );
/*ボックスの生成*/
//m_ShootChkBox.
// m_ShootChkBox.CreateBox( vPt1, vPt2, matWorld );
}
//==============================================================================
//捕獲判定ボックスの生成
//==============================================================================
void CPlayer::CreateCapBox()
{
Math::Matrix matTemp;
Math::Matrix matWorld;
/*初期化*/
matTemp.Identity();
matWorld.Identity();
/*回転*/
matTemp.RotationY( toI( m_Rot.x - DEG_TO_ANGLE( 180 ) ) );
matWorld *= matTemp;
/*移動*/
matTemp.Translation( m_vPos.x, m_vPos.y, m_vPos.z );
matWorld *= matTemp;
/*ボックスの生成*/
m_CapChkBox.CreateBox( Math::Vector3D( -2, 0, 0 ), Math::Vector3D( 2, 5, 30 ), matWorld );
}
void
FixedwingAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_setpoint_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_status_poll();
vehicle_land_detected_poll();
battery_status_poll();
_sub_airspeed.update();
/* wakeup source */
px4_pollfd_struct_t fds[1];
/* Setup of loop */
fds[0].fd = _att_sub;
fds[0].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
PX4_WARN("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
bool params_updated = false;
orb_check(_params_sub, ¶ms_updated);
if (params_updated) {
/* read from param to clear updated flag */
parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[0].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f) {
deltaT = 0.01f;
}
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
/* get current rotation matrix and euler angles from control state quaternions */
math::Quaternion q_att(_att.q[0], _att.q[1], _att.q[2], _att.q[3]);
_R = q_att.to_dcm();
math::Vector<3> euler_angles;
euler_angles = _R.to_euler();
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
if (_vehicle_status.is_vtol && _parameters.vtol_type == vtol_type::TAILSITTER) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
* the pitch axis compared to the neutral position of the vehicle in multicopter mode
* we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
* Additionally, in order to get the correct sign of the pitch, we need to multiply
* the new x axis of the rotation matrix with -1
*
* original: modified:
*
* Rxx Ryx Rzx -Rzx Ryx Rxx
* Rxy Ryy Rzy -Rzy Ryy Rxy
* Rxz Ryz Rzz -Rzz Ryz Rxz
* */
math::Matrix<3, 3> R_adapted = _R; //modified rotation matrix
/* move z to x */
R_adapted(0, 0) = _R(0, 2);
R_adapted(1, 0) = _R(1, 2);
R_adapted(2, 0) = _R(2, 2);
/* move x to z */
R_adapted(0, 2) = _R(0, 0);
R_adapted(1, 2) = _R(1, 0);
R_adapted(2, 2) = _R(2, 0);
/* change direction of pitch (convert to right handed system) */
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
euler_angles = R_adapted.to_euler(); //adapted euler angles for fixed wing operation
/* fill in new attitude data */
_R = R_adapted;
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
/* lastly, roll- and yawspeed have to be swaped */
float helper = _att.rollspeed;
_att.rollspeed = -_att.yawspeed;
_att.yawspeed = helper;
}
_sub_airspeed.update();
vehicle_setpoint_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
global_pos_poll();
vehicle_status_poll();
vehicle_land_detected_poll();
battery_status_poll();
// the position controller will not emit attitude setpoints in some modes
// we need to make sure that this flag is reset
_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
/* lock integrator until control is started */
bool lock_integrator = !(_vcontrol_mode.flag_control_rates_enabled && !_vehicle_status.is_rotary_wing);
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
_actuators_airframe.control[7] = 1.0f;
//warnx("_actuators_airframe.control[1] = 1.0f;");
} else {
_actuators_airframe.control[7] = 0.0f;
//warnx("_actuators_airframe.control[1] = -1.0f;");
}
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.is_rotary_wing && !_vehicle_status.is_vtol) {
continue;
}
/* default flaps to center */
float flap_control = 0.0f;
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_parameters.flaps_scale) > 0.01f) {
flap_control = 0.5f * (_manual.flaps + 1.0f) * _parameters.flaps_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaps_scale) > 0.01f) {
flap_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f;
}
// move the actual control value continuous with time, full flap travel in 1sec
if (fabsf(_flaps_applied - flap_control) > 0.01f) {
_flaps_applied += (_flaps_applied - flap_control) < 0 ? deltaT : -deltaT;
} else {
_flaps_applied = flap_control;
}
/* default flaperon to center */
float flaperon_control = 0.0f;
/* map flaperons by default to manual if valid */
if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled
&& fabsf(_parameters.flaperon_scale) > 0.01f) {
flaperon_control = 0.5f * (_manual.aux2 + 1.0f) * _parameters.flaperon_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaperon_scale) > 0.01f) {
flaperon_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f;
}
// move the actual control value continuous with time, full flap travel in 1sec
if (fabsf(_flaperons_applied - flaperon_control) > 0.01f) {
_flaperons_applied += (_flaperons_applied - flaperon_control) < 0 ? deltaT : -deltaT;
} else {
_flaperons_applied = flaperon_control;
}
// Check if we are in rattitude mode and the pilot is above the threshold on pitch
if (_vcontrol_mode.flag_control_rattitude_enabled) {
if (fabsf(_manual.y) > _parameters.rattitude_thres ||
fabsf(_manual.x) > _parameters.rattitude_thres) {
_vcontrol_mode.flag_control_attitude_enabled = false;
}
}
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_rates_enabled) {
/* scale around tuning airspeed */
float airspeed;
/* if airspeed is non-finite or not valid or if we are asked not to control it, we assume the normal average speed */
const bool airspeed_valid = PX4_ISFINITE(_sub_airspeed.get().indicated_airspeed_m_s)
&& ((_sub_airspeed.get().timestamp - hrt_absolute_time()) < 1e6);
if (airspeed_valid) {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _sub_airspeed.get().indicated_airspeed_m_s);
} else {
airspeed = _parameters.airspeed_trim;
perf_count(_nonfinite_input_perf);
}
/*
* For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and its the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min :
airspeed);
/* Use min airspeed to calculate ground speed scaling region.
* Don't scale below gspd_scaling_trim
*/
float groundspeed = sqrtf(_global_pos.vel_n * _global_pos.vel_n +
_global_pos.vel_e * _global_pos.vel_e);
float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f);
float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed);
// in STABILIZED mode we need to generate the attitude setpoint
// from manual user inputs
if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) {
_att_sp.timestamp = hrt_absolute_time();
_att_sp.roll_body = _manual.y * _parameters.man_roll_max + _parameters.rollsp_offset_rad;
_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max, _parameters.man_roll_max);
_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max);
_att_sp.yaw_body = 0.0f;
_att_sp.thrust = _manual.z;
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
q.copyTo(_att_sp.q_d);
_att_sp.q_d_valid = true;
int instance;
orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT);
}
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
/* Reset integrators if the aircraft is on ground
* or a multicopter (but not transitioning VTOL)
*/
if (_vehicle_land_detected.landed
|| (_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode)) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
float roll_sp = _att_sp.roll_body;
float pitch_sp = _att_sp.pitch_body;
float yaw_sp = _att_sp.yaw_body;
float throttle_sp = _att_sp.thrust;
/* Prepare data for attitude controllers */
struct ECL_ControlData control_input = {};
control_input.roll = _roll;
control_input.pitch = _pitch;
control_input.yaw = _yaw;
control_input.body_x_rate = _att.rollspeed;
control_input.body_y_rate = _att.pitchspeed;
control_input.body_z_rate = _att.yawspeed;
control_input.roll_setpoint = roll_sp;
control_input.pitch_setpoint = pitch_sp;
control_input.yaw_setpoint = yaw_sp;
control_input.airspeed_min = _parameters.airspeed_min;
control_input.airspeed_max = _parameters.airspeed_max;
control_input.airspeed = airspeed;
control_input.scaler = airspeed_scaling;
control_input.lock_integrator = lock_integrator;
control_input.groundspeed = groundspeed;
control_input.groundspeed_scaler = groundspeed_scaler;
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled) {
if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {
_roll_ctrl.control_attitude(control_input);
_pitch_ctrl.control_attitude(control_input);
_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
_wheel_ctrl.control_attitude(control_input);
/* Update input data for rate controllers */
control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate();
control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate();
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_euler_rate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll :
_parameters.trim_roll;
if (!PX4_ISFINITE(roll_u)) {
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double)roll_u);
}
}
float pitch_u = _pitch_ctrl.control_euler_rate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
if (!PX4_ISFINITE(pitch_u)) {
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
}
}
float yaw_u = 0.0f;
if (_parameters.w_en && _att_sp.fw_control_yaw) {
yaw_u = _wheel_ctrl.control_bodyrate(control_input);
} else {
yaw_u = _yaw_ctrl.control_euler_rate(control_input);
}
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
/* add in manual rudder control in manual modes */
if (_vcontrol_mode.flag_control_manual_enabled) {
_actuators.control[actuator_controls_s::INDEX_YAW] += _manual.r;
}
if (!PX4_ISFINITE(yaw_u)) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through if it is finite and if no engine failure was detected */
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(throttle_sp)
&& !_vehicle_status.engine_failure) ? throttle_sp : 0.0f;
/* scale effort by battery status */
if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&
_actuators.control[actuator_controls_s::INDEX_THROTTLE] > 0.1f) {
_actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_status.scale;
}
if (!PX4_ISFINITE(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
} else {
// pure rate control
_roll_ctrl.set_bodyrate_setpoint(_manual.y * _parameters.acro_max_x_rate_rad);
_pitch_ctrl.set_bodyrate_setpoint(-_manual.x * _parameters.acro_max_y_rate_rad);
_yaw_ctrl.set_bodyrate_setpoint(_manual.r * _parameters.acro_max_z_rate_rad);
float roll_u = _roll_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll :
_parameters.trim_roll;
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_PITCH] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch :
_parameters.trim_pitch;
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw :
_parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
}
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
_rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
_rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
_rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate();
_rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub != nullptr) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else if (_rates_sp_id) {
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
rate_ctrl_status_s rate_ctrl_status;
rate_ctrl_status.timestamp = hrt_absolute_time();
rate_ctrl_status.rollspeed = _att.rollspeed;
rate_ctrl_status.pitchspeed = _att.pitchspeed;
rate_ctrl_status.yawspeed = _att.yawspeed;
rate_ctrl_status.rollspeed_integ = _roll_ctrl.get_integrator();
rate_ctrl_status.pitchspeed_integ = _pitch_ctrl.get_integrator();
rate_ctrl_status.yawspeed_integ = _yaw_ctrl.get_integrator();
rate_ctrl_status.additional_integ1 = _wheel_ctrl.get_integrator();
int instance;
orb_publish_auto(ORB_ID(rate_ctrl_status), &_rate_ctrl_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT);
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _parameters.man_roll_scale + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _parameters.man_pitch_scale +
_parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _parameters.man_yaw_scale + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
// Add feed-forward from roll control output to yaw control output
// This can be used to counteract the adverse yaw effect when rolling the plane
_actuators.control[actuator_controls_s::INDEX_YAW] += _parameters.roll_to_yaw_ff * math::constrain(
_actuators.control[actuator_controls_s::INDEX_ROLL], -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_applied;
_actuators.control[5] = _manual.aux1;
_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = _flaperons_applied;
// FIXME: this should use _vcontrol_mode.landing_gear_pos in the future
_actuators.control[7] = _manual.aux3;
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _att.timestamp;
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _att.timestamp;
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled) {
/* publish the actuator controls */
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
}
if (_actuators_2_pub != nullptr) {
/* publish the actuator controls*/
orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
} else {
/* advertise and publish */
_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
}
}
}
loop_counter++;
perf_end(_loop_perf);
}
warnx("exiting.\n");
_control_task = -1;
_task_running = false;
}
void CCloud::Draw()
{
if (! m_enabled) return;
if (m_level == 0.0f) return;
if (m_lines.empty()) return;
std::vector<VertexTex2> vertices((m_brickCount+2)*2, VertexTex2());
float iDeep = m_engine->GetDeepView();
float deep = (m_brickCount*m_brickSize)/2.0f;
m_engine->SetDeepView(deep);
m_engine->SetFocus(m_engine->GetFocus());
m_engine->UpdateMatProj(); // increases the depth of view
float fogStart = deep*0.15f;
float fogEnd = deep*0.24f;
CDevice* device = m_engine->GetDevice();
// TODO: do this better?
device->SetFogParams(FOG_LINEAR, m_engine->GetFogColor( m_engine->GetRankView() ),
fogStart, fogEnd, 1.0f);
device->SetTransform(TRANSFORM_VIEW, m_engine->GetMatView());
Material material;
material.diffuse = m_diffuse;
material.ambient = m_ambient;
m_engine->SetMaterial(material);
m_engine->SetTexture(m_fileName, 0);
m_engine->SetTexture(m_fileName, 1);
m_engine->SetState(ENG_RSTATE_TTEXTURE_BLACK | ENG_RSTATE_FOG | ENG_RSTATE_WRAP);
Math::Matrix matrix;
matrix.LoadIdentity();
device->SetTransform(TRANSFORM_WORLD, matrix);
float size = m_brickSize/2.0f;
Math::Vector eye = m_engine->GetEyePt();
Math::Vector n = Math::Vector(0.0f, -1.0f, 0.0f);
// Draws all the lines
for (int i = 0; i < static_cast<int>( m_lines.size() ); i++)
{
Math::Vector pos;
pos.y = m_level;
pos.z = m_lines[i].pz;
pos.x = m_lines[i].px1;
int vertexIndex = 0;
Math::Vector p;
Math::Point uv1, uv2;
p.x = pos.x-size;
p.z = pos.z+size;
p.y = pos.y;
AdjustLevel(p, eye, deep, uv1, uv2);
vertices[vertexIndex++] = VertexTex2(p, n, uv1, uv2);
p.x = pos.x-size;
p.z = pos.z-size;
p.y = pos.y;
AdjustLevel(p, eye, deep, uv1, uv2);
vertices[vertexIndex++] = VertexTex2(p, n, uv1, uv2);
for (int j = 0; j < m_lines[i].len; j++)
{
p.x = pos.x+size;
p.z = pos.z+size;
p.y = pos.y;
AdjustLevel(p, eye, deep, uv1, uv2);
vertices[vertexIndex++] = VertexTex2(p, n, uv1, uv2);
p.x = pos.x+size;
p.z = pos.z-size;
p.y = pos.y;
AdjustLevel(p, eye, deep, uv1, uv2);
vertices[vertexIndex++] = VertexTex2(p, n, uv1, uv2);
pos.x += size*2.0f;
}
device->DrawPrimitive(PRIMITIVE_TRIANGLE_STRIP, &vertices[0], vertexIndex);
m_engine->AddStatisticTriangle(vertexIndex - 2);
}
m_engine->SetDeepView(iDeep);
m_engine->SetFocus(m_engine->GetFocus());
m_engine->UpdateMatProj(); // gives depth to initial
}
void
FixedwingAttitudeControl::task_main()
{
/*
* do subscriptions
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
parameters_update();
/* get an initial update for all sensor and status data */
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_status_poll();
vehicle_land_detected_poll();
/* wakeup source */
px4_pollfd_struct_t fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _ctrl_state_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* guard against too large deltaT's */
if (deltaT > 1.0f) {
deltaT = 0.01f;
}
/* load local copies */
orb_copy(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
/* get current rotation matrix and euler angles from control state quaternions */
math::Quaternion q_att(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
_R = q_att.to_dcm();
math::Vector<3> euler_angles;
euler_angles = _R.to_euler();
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
if (_vehicle_status.is_vtol && _parameters.vtol_type == 0) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
* Since the VTOL airframe is initialized as a multicopter we need to
* modify the estimated attitude for the fixed wing operation.
* Since the neutral position of the vehicle in fixed wing mode is -90 degrees rotated around
* the pitch axis compared to the neutral position of the vehicle in multicopter mode
* we need to swap the roll and the yaw axis (1st and 3rd column) in the rotation matrix.
* Additionally, in order to get the correct sign of the pitch, we need to multiply
* the new x axis of the rotation matrix with -1
*
* original: modified:
*
* Rxx Ryx Rzx -Rzx Ryx Rxx
* Rxy Ryy Rzy -Rzy Ryy Rxy
* Rxz Ryz Rzz -Rzz Ryz Rxz
* */
math::Matrix<3, 3> R_adapted = _R; //modified rotation matrix
/* move z to x */
R_adapted(0, 0) = _R(0, 2);
R_adapted(1, 0) = _R(1, 2);
R_adapted(2, 0) = _R(2, 2);
/* move x to z */
R_adapted(0, 2) = _R(0, 0);
R_adapted(1, 2) = _R(1, 0);
R_adapted(2, 2) = _R(2, 0);
/* change direction of pitch (convert to right handed system) */
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
euler_angles = R_adapted.to_euler(); //adapted euler angles for fixed wing operation
/* fill in new attitude data */
_R = R_adapted;
_roll = euler_angles(0);
_pitch = euler_angles(1);
_yaw = euler_angles(2);
/* lastly, roll- and yawspeed have to be swaped */
float helper = _ctrl_state.roll_rate;
_ctrl_state.roll_rate = -_ctrl_state.yaw_rate;
_ctrl_state.yaw_rate = helper;
}
vehicle_setpoint_poll();
vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
global_pos_poll();
vehicle_status_poll();
vehicle_land_detected_poll();
// the position controller will not emit attitude setpoints in some modes
// we need to make sure that this flag is reset
_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
/* lock integrator until control is started */
bool lock_integrator;
if (_vcontrol_mode.flag_control_attitude_enabled && !_vehicle_status.is_rotary_wing) {
lock_integrator = false;
} else {
lock_integrator = true;
}
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {
_actuators_airframe.control[7] = 1.0f;
//warnx("_actuators_airframe.control[1] = 1.0f;");
} else {
_actuators_airframe.control[7] = 0.0f;
//warnx("_actuators_airframe.control[1] = -1.0f;");
}
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.is_rotary_wing && !_vehicle_status.is_vtol) {
continue;
}
/* default flaps to center */
float flaps_control = 0.0f;
static float delta_flaps = 0;
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled) {
flaps_control = 0.5f * (_manual.flaps + 1.0f) * _parameters.flaps_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled) {
flaps_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f;
}
// move the actual control value continuous with time
static hrt_abstime t_flaps_changed = 0;
if (fabsf(flaps_control - _flaps_cmd_last) > 0.01f) {
t_flaps_changed = hrt_absolute_time();
delta_flaps = flaps_control - _flaps_cmd_last;
_flaps_cmd_last = flaps_control;
}
static float flaps_applied = 0.0f;
if (fabsf(flaps_applied - flaps_control) > 0.01f) {
flaps_applied = (flaps_control - delta_flaps) + (float)hrt_elapsed_time(&t_flaps_changed) * (delta_flaps) / 1000000;
}
/* default flaperon to center */
float flaperon = 0.0f;
static float delta_flaperon = 0.0f;
/* map flaperons by default to manual if valid */
if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled) {
flaperon = 0.5f * (_manual.aux2 + 1.0f) * _parameters.flaperon_scale;
} else if (_vcontrol_mode.flag_control_auto_enabled) {
flaperon = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f;
}
// move the actual control value continuous with time
static hrt_abstime t_flaperons_changed = 0;
if (fabsf(flaperon - _flaperons_cmd_last) > 0.01f) {
t_flaperons_changed = hrt_absolute_time();
delta_flaperon = flaperon - _flaperons_cmd_last;
_flaperons_cmd_last = flaperon;
}
static float flaperon_applied = 0.0f;
if (fabsf(flaperon_applied - flaperon) > 0.01f) {
flaperon_applied = (flaperon - delta_flaperon) + (float)hrt_elapsed_time(&t_flaperons_changed) *
(delta_flaperon) / 1000000;
}
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_attitude_enabled) {
/* scale around tuning airspeed */
float airspeed;
/* if airspeed is not updating, we assume the normal average speed */
if (bool nonfinite = !PX4_ISFINITE(_ctrl_state.airspeed) || !_ctrl_state.airspeed_valid) {
airspeed = _parameters.airspeed_trim;
if (nonfinite) {
perf_count(_nonfinite_input_perf);
}
} else {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _ctrl_state.airspeed);
}
/*
* For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and its the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min :
airspeed);
/* Use min airspeed to calculate ground speed scaling region.
* Don't scale below gspd_scaling_trim
*/
float groundspeed = sqrtf(_global_pos.vel_n * _global_pos.vel_n +
_global_pos.vel_e * _global_pos.vel_e);
float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f);
float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed);
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float yaw_sp = 0.0f;
float yaw_manual = 0.0f;
float throttle_sp = 0.0f;
/* Read attitude setpoint from uorb if
* - velocity control or position control is enabled (pos controller is running)
* - manual control is disabled (another app may send the setpoint, but it should
* for sure not be set from the remote control values)
*/
if (_vcontrol_mode.flag_control_auto_enabled ||
!_vcontrol_mode.flag_control_manual_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
yaw_sp = _att_sp.yaw_body;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
} else if (_vcontrol_mode.flag_control_velocity_enabled) {
/* the pilot does not want to change direction,
* take straight attitude setpoint from position controller
*/
if (fabsf(_manual.y) < 0.01f && fabsf(_roll) < 0.2f) {
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
} else {
roll_sp = (_manual.y * _parameters.man_roll_max)
+ _parameters.rollsp_offset_rad;
}
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
} else if (_vcontrol_mode.flag_control_altitude_enabled) {
/*
* Velocity should be controlled and manual is enabled.
*/
roll_sp = (_manual.y * _parameters.man_roll_max) + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
} else {
/*
* Scale down roll and pitch as the setpoints are radians
* and a typical remote can only do around 45 degrees, the mapping is
* -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
*
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = (_manual.y * _parameters.man_roll_max) + _parameters.rollsp_offset_rad;
pitch_sp = -(_manual.x * _parameters.man_pitch_max) + _parameters.pitchsp_offset_rad;
/* allow manual control of rudder deflection */
yaw_manual = _manual.r;
throttle_sp = _manual.z;
/*
* in manual mode no external source should / does emit attitude setpoints.
* emit the manual setpoint here to allow attitude controller tuning
* in attitude control mode.
*/
struct vehicle_attitude_setpoint_s att_sp;
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = roll_sp;
att_sp.pitch_body = pitch_sp;
att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
att_sp.thrust = throttle_sp;
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(_attitude_setpoint_id, _attitude_sp_pub, &att_sp);
} else if (_attitude_setpoint_id) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &att_sp);
}
}
/* If the aircraft is on ground reset the integrators */
if (_vehicle_land_detected.landed || _vehicle_status.is_rotary_wing) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
}
/* Prepare speed_body_u and speed_body_w */
float speed_body_u = _R(0, 0) * _global_pos.vel_n + _R(1, 0) * _global_pos.vel_e + _R(2, 0) * _global_pos.vel_d;
float speed_body_v = _R(0, 1) * _global_pos.vel_n + _R(1, 1) * _global_pos.vel_e + _R(2, 1) * _global_pos.vel_d;
float speed_body_w = _R(0, 2) * _global_pos.vel_n + _R(1, 2) * _global_pos.vel_e + _R(2, 2) * _global_pos.vel_d;
/* Prepare data for attitude controllers */
struct ECL_ControlData control_input = {};
control_input.roll = _roll;
control_input.pitch = _pitch;
control_input.yaw = _yaw;
control_input.roll_rate = _ctrl_state.roll_rate;
control_input.pitch_rate = _ctrl_state.pitch_rate;
control_input.yaw_rate = _ctrl_state.yaw_rate;
control_input.speed_body_u = speed_body_u;
control_input.speed_body_v = speed_body_v;
control_input.speed_body_w = speed_body_w;
control_input.acc_body_x = _accel.x;
control_input.acc_body_y = _accel.y;
control_input.acc_body_z = _accel.z;
control_input.roll_setpoint = roll_sp;
control_input.pitch_setpoint = pitch_sp;
control_input.yaw_setpoint = yaw_sp;
control_input.airspeed_min = _parameters.airspeed_min;
control_input.airspeed_max = _parameters.airspeed_max;
control_input.airspeed = airspeed;
control_input.scaler = airspeed_scaling;
control_input.lock_integrator = lock_integrator;
control_input.groundspeed = groundspeed;
control_input.groundspeed_scaler = groundspeed_scaler;
_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
/* Run attitude controllers */
if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {
_roll_ctrl.control_attitude(control_input);
_pitch_ctrl.control_attitude(control_input);
_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
_wheel_ctrl.control_attitude(control_input);
/* Update input data for rate controllers */
control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
control_input.pitch_rate_setpoint = _pitch_ctrl.get_desired_rate();
control_input.yaw_rate_setpoint = _yaw_ctrl.get_desired_rate();
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_bodyrate(control_input);
_actuators.control[0] = (PX4_ISFINITE(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!PX4_ISFINITE(roll_u)) {
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double)roll_u);
}
}
float pitch_u = _pitch_ctrl.control_bodyrate(control_input);
_actuators.control[1] = (PX4_ISFINITE(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!PX4_ISFINITE(pitch_u)) {
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
}
}
float yaw_u = 0.0f;
if (_att_sp.fw_control_yaw == true) {
yaw_u = _wheel_ctrl.control_bodyrate(control_input);
}
else {
yaw_u = _yaw_ctrl.control_bodyrate(control_input);
}
_actuators.control[2] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
/* add in manual rudder control */
_actuators.control[2] += yaw_manual;
if (!PX4_ISFINITE(yaw_u)) {
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through if it is finite and if no engine failure was
* detected */
_actuators.control[3] = (PX4_ISFINITE(throttle_sp) &&
!(_vehicle_status.engine_failure ||
_vehicle_status.engine_failure_cmd)) ?
throttle_sp : 0.0f;
if (!PX4_ISFINITE(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
/*
* Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available
*/
_rates_sp.roll = _roll_ctrl.get_desired_rate();
_rates_sp.pitch = _pitch_ctrl.get_desired_rate();
_rates_sp.yaw = _yaw_ctrl.get_desired_rate();
_rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub != nullptr) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else if (_rates_sp_id) {
/* advertise the attitude rates setpoint */
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
}
} else {
/* manual/direct control */
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
_actuators.control[actuator_controls_s::INDEX_FLAPS] = flaps_applied;
_actuators.control[5] = _manual.aux1;
_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = flaperon_applied;
_actuators.control[7] = _manual.aux3;
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _ctrl_state.timestamp;
_actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _ctrl_state.timestamp;
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_rates_enabled ||
_vcontrol_mode.flag_control_attitude_enabled ||
_vcontrol_mode.flag_control_manual_enabled) {
/* publish the actuator controls */
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
}
if (_actuators_2_pub != nullptr) {
/* publish the actuator controls*/
orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);
} else {
/* advertise and publish */
_actuators_2_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators_airframe);
}
}
}
loop_counter++;
perf_end(_loop_perf);
}
warnx("exiting.\n");
_control_task = -1;
_task_running = false;
}
void CLightning::Draw()
{
if (!m_lightningExists) return;
if (m_phase != LP_FLASH) return;
CDevice* device = m_engine->GetDevice();
Math::Matrix mat;
mat.LoadIdentity();
device->SetTransform(TRANSFORM_WORLD, mat);
m_engine->SetTexture("effect00.png");
m_engine->SetState(ENG_RSTATE_TTEXTURE_BLACK);
Math::Point texInf;
texInf.x = 64.5f/256.0f;
texInf.y = 33.0f/256.0f;
Math::Point texSup;
texSup.x = 95.5f/256.0f;
texSup.y = 34.0f/256.0f; // blank
Math::Vector p1 = m_pos;
Math::Vector eye = m_engine->GetEyePt();
float a = Math::RotateAngle(eye.x-p1.x, eye.z-p1.z);
Math::Vector n = Math::Normalize(p1-eye);
Math::Vector corner[4];
Vertex vertex[4];
for (int i = 0; i < FLASH_SEGMENTS-1; i++)
{
Math::Vector p2 = p1;
p2.y += 8.0f+0.2f*i;
Math::Point rot;
Math::Vector p = p1;
p.x += m_width[i];
rot = Math::RotatePoint(Math::Point(p1.x, p1.z), a+Math::PI/2.0f, Math::Point(p.x, p.z));
corner[0].x = rot.x+m_shift[i].x;
corner[0].y = p1.y;
corner[0].z = rot.y+m_shift[i].y;
rot = Math::RotatePoint(Math::Point(p1.x, p1.z), a-Math::PI/2.0f, Math::Point(p.x, p.z));
corner[1].x = rot.x+m_shift[i].x;
corner[1].y = p1.y;
corner[1].z = rot.y+m_shift[i].y;
p = p2;
p.x += m_width[i+1];
rot = Math::RotatePoint(Math::Point(p2.x, p2.z), a+Math::PI/2.0f, Math::Point(p.x, p.z));
corner[2].x = rot.x+m_shift[i+1].x;
corner[2].y = p2.y;
corner[2].z = rot.y+m_shift[i+1].y;
rot = Math::RotatePoint(Math::Point(p2.x, p2.z), a-Math::PI/2.0f, Math::Point(p.x, p.z));
corner[3].x = rot.x+m_shift[i+1].x;
corner[3].y = p2.y;
corner[3].z = rot.y+m_shift[i+1].y;
if (p2.y < p1.y)
{
vertex[0] = Vertex(corner[1], n, Math::Point(texSup.x, texSup.y));
vertex[1] = Vertex(corner[0], n, Math::Point(texInf.x, texSup.y));
vertex[2] = Vertex(corner[3], n, Math::Point(texSup.x, texInf.y));
vertex[3] = Vertex(corner[2], n, Math::Point(texInf.x, texInf.y));
}
else
{
vertex[0] = Vertex(corner[0], n, Math::Point(texSup.x, texSup.y));
vertex[1] = Vertex(corner[1], n, Math::Point(texInf.x, texSup.y));
vertex[2] = Vertex(corner[2], n, Math::Point(texSup.x, texInf.y));
vertex[3] = Vertex(corner[3], n, Math::Point(texInf.x, texInf.y));
}
device->DrawPrimitive(PRIMITIVE_TRIANGLE_STRIP, vertex, 4);
m_engine->AddStatisticTriangle(2);
p1 = p2;
}
}
void TestApp::OnUpdate()
{
if (mWindow.HandleMessage())
{
mRunning = false;
}
else
{
// Update our time
mTimer.Update();
// Update animation
mAnimationController.Update(mTimer.GetElapsedTime() * 1000.0f);
// Camera movement
const float kMoveSpeed = 10.0f;
const float kTurnSpeed = 5.0f;
if (mKeyStates[VK_UP] || mKeyStates['W'])
{
mCamera.Walk(kMoveSpeed * mTimer.GetElapsedTime());
}
else if (mKeyStates[VK_DOWN] || mKeyStates['S'])
{
mCamera.Walk(-kMoveSpeed * mTimer.GetElapsedTime());
}
else if (mKeyStates[VK_RIGHT] || mKeyStates['D'])
{
mCamera.Strafe(kMoveSpeed * mTimer.GetElapsedTime());
}
else if (mKeyStates[VK_LEFT] || mKeyStates['A'])
{
mCamera.Strafe(-kMoveSpeed * mTimer.GetElapsedTime());
}
else if (mKeyStates['K'])
{
mDrawSkeleton = !mDrawSkeleton;
}
// Render scene
mGraphicsSystem.BeginRender(Color::Black());
mRenderer.SetCamera(mCamera);
if(mDrawSkeleton)
{
DrawSkeleton();
}
// for each mesh
for(u32 i = 0; i < mModel.mMeshes.size(); ++i)
{
const Mesh* mesh = mModel.mMeshes[i];
// copy vertexweights
const VertexWeights& vertexWeights = mesh->GetVertexWeights();
// if vw not empty
if(!vertexWeights.empty())
{
const std::vector<Math::Matrix>& boneTransforms = mAnimationController.BoneTransforms();
// copy vertices
const Mesh::Vertex* vertices = mesh->GetVertices();
// get vertex count
const u32 count = mesh->GetVertexCount();
// create new vertexarray of size vertex count
Mesh::Vertex* newVertices = new Mesh::Vertex[count];
// for each vertex
for(u32 j = 0; j < count; ++j)
{
// create zero transform
Math::Matrix transform;
transform = transform.Zero();
// copy boneweights from this vertexweight
const BoneWeights& boneWeights = vertexWeights[j];
if(i == 1)
{
transform = boneTransforms[22];
}
else
{
// for each boneweight
for(u32 k = 0; k < boneWeights.size(); ++k)
{
const BoneWeight& boneWeight = boneWeights[k];
transform = transform + boneTransforms[i == 1 ? 22 : boneWeight.boneIndex] * boneWeight.weight;
}
}
// insert position into newVertices
newVertices[j].position = Math::TransformCoord(vertices[j].position, transform);
// insert normal into newVertices
newVertices[j].normal = Math::Normalize(Math::TransformNormal(vertices[j].normal, transform));
// insert texcoord into newVertices
newVertices[j].texcoord = vertices[j].texcoord;
}
// update mesh buffer at index with newVertices
mModel.mMeshBuffers[i]->UpdateBuffer(mGraphicsSystem, newVertices, count);
// safedelete newVertices
SafeDeleteArray(newVertices);
}
}
mModel.Render(mRenderer);
SimpleDraw::Render(mCamera);
mGraphicsSystem.EndRender();
}
}
void CalibrationWnd::calcDac2Volt()
{
// Make linear assumption, e.i.
//V = a*dacLow + b*dacHigh + c*1;
Math::Matrix<> XtX;
Math::Vector<> XtY;
int sz = dacLowV.size();
for ( int i=0; i<3; i++ )
{
QVector<int> * a;
if ( i==0 )
a = &dacLowV;
else if ( i==1 )
a = &dacHighV;
else
a = 0;
for ( int j=0; j<3; j++ )
{
QVector<int> * b;
if ( j==0 )
b = &dacLowV;
else if ( j==1 )
b = &dacHighV;
else
b = 0;
qreal v = 0.0;
for ( int k=0; k<sz; k++ )
{
qreal va = ( a ) ? a->at( k ) : 1.0;
qreal vb = ( b ) ? b->at( k ) : 1.0;
v += va * vb;
}
XtX[i][j] = v;
}
qreal v = 0.0;
for ( int k=0; k<sz; k++ )
{
qreal va = ( a ) ? a->at( k ) : 1.0;
qreal vy = volt.at( k );
v += va * vy;
}
XtY[i] = v;
}
// A = (XtX)^-1 * XtY;
Math::Matrix<> invXtX;
invXtX = XtX.inv();
Math::Vector<> A;
for ( int i=0; i<3; i++ )
{
qreal v = 0.0;
for ( int j=0; j<3; j++ )
{
v += invXtX[i][j] * XtY[j];
}
A[i] = v;
}
aDacLow = A[0];
aDacHigh = A[1];
bDac = A[2];
}
void
TestMatrix::runSubTestEigen(double& res, double& expected, std::string& subTestName, bool pd)
{
subTestName = "simple_symmetric_eigen";
if(pd)
subTestName = "simple_symmetric_positive_eigen";
#ifdef COSMO_LAPACK
Math::SymmetricMatrix<double> mat(3, 3);
mat(0, 0) = 3;
mat(1, 1) = 10;
mat(2, 2) = 4;
mat(0, 2) = 2;
std::vector<double> eigenvals;
Math::Matrix<double> eigenvecs;
const int info = mat.getEigen(&eigenvals, &eigenvecs, pd);
if(info)
{
output_screen_clean("FAIL! Eigenvalue/eigenvector decomposition failed. Info = " << info << std::endl);
res = 0;
return;
}
//output_screen_clean("Eigenvalues: " << eigenvals[0] << ", " << eigenvals[1] << ", " << eigenvals[2] << std::endl);
if(pd)
eigenvecs.writeIntoTextFile("test_files/matrix_test_eigenvecs.txt");
else
eigenvecs.writeIntoTextFile("test_files/matrix_test_eigenvecs_pos.txt");
res = 1;
expected = 1;
Math::Matrix<double> m = mat;
for(int i = 0; i < 3; ++i)
{
Math::Matrix<double> v = eigenvecs.getCol(i);
Math::Matrix<double> prod = m * v;
for(int j = 0; j < 3; ++j)
{
if(!Math::areEqual(prod(j, 0), eigenvals[i] * v(j, 0), 1e-5))
{
output_screen_clean("FAIL! The eigenvalue " << i << " times the eigenvector doesn't match the matrix times the eigenvector." << std::endl);
output_screen_clean("\tLooking at index " << j << ", expected " << eigenvals[i] * v(j, 0) << " obtained " << prod(j, 0) << std::endl);
res = 0;
}
}
}
Math::Matrix<double> diag = eigenvecs.getTranspose() * mat * eigenvecs;
for(int i = 0; i < 3; ++i)
{
for(int j = 0; j < 3; ++j)
{
if(i == j)
{
if(!Math::areEqual(diag(i, i), eigenvals[i], 1e-5))
{
output_screen_clean("FAIL! The diagonalized matrix has " << diag(i, i) << " on the diagonal at index " << i << " but the corresponding eigenvalue is " << eigenvals[i] << std::endl);
res = 0;
}
}
else
{
if(!Math::areEqual(diag(i, j), 0.0, 1e-5))
{
output_screen_clean("FAIL! The diagonalized matrix has " << diag(i, j) << " as the off-diagonal element (" << i << ", " << j << "). Must be 0." << std::endl);
res = 0;
}
}
}
}
#else
output_screen_clean("This test (below) is skipped because Cosmo++ has not been linked to lapack" << std::endl);
res = 1;
expected = 1;
#endif
}
void Render(Gfx::CGLDevice *device)
{
device->BeginScene();
/* Unlit part of scene */
device->SetRenderState(Gfx::RENDER_STATE_LIGHTING, false);
device->SetRenderState(Gfx::RENDER_STATE_CULLING, false); // Double-sided drawing
Math::Matrix persp;
Math::LoadProjectionMatrix(persp, Math::PI / 4.0f, (800.0f) / (600.0f), 0.1f, 50.0f);
device->SetTransform(Gfx::TRANSFORM_PROJECTION, persp);
Math::Matrix viewMat;
Math::Matrix mat;
viewMat.LoadIdentity();
Math::LoadRotationXMatrix(mat, -ROTATION.x);
viewMat = Math::MultiplyMatrices(viewMat, mat);
Math::LoadRotationYMatrix(mat, -ROTATION.y);
viewMat = Math::MultiplyMatrices(viewMat, mat);
Math::LoadTranslationMatrix(mat, -TRANSLATION);
viewMat = Math::MultiplyMatrices(viewMat, mat);
device->SetTransform(Gfx::TRANSFORM_VIEW, viewMat);
Math::Matrix worldMat;
worldMat.LoadIdentity();
device->SetTransform(Gfx::TRANSFORM_WORLD, worldMat);
Gfx::VertexCol line[2] = {};
for (int x = -40; x <= 40; ++x)
{
line[0].color = Gfx::Color(0.7f + x / 120.0f, 0.0f, 0.0f);
line[0].coord.z = -40;
line[0].coord.x = x;
line[1].color = Gfx::Color(0.7f + x / 120.0f, 0.0f, 0.0f);
line[1].coord.z = 40;
line[1].coord.x = x;
device->DrawPrimitive(Gfx::PRIMITIVE_LINES, line, 2);
}
for (int z = -40; z <= 40; ++z)
{
line[0].color = Gfx::Color(0.0f, 0.7f + z / 120.0f, 0.0f);
line[0].coord.z = z;
line[0].coord.x = -40;
line[1].color = Gfx::Color(0.0f, 0.7f + z / 120.0f, 0.0f);
line[1].coord.z = z;
line[1].coord.x = 40;
device->DrawPrimitive(Gfx::PRIMITIVE_LINES, line, 2);
}
Gfx::VertexCol quad[6] = {};
quad[0].coord = Math::Vector(-1.0f, -1.0f, 0.0f);
quad[1].coord = Math::Vector( 1.0f, -1.0f, 0.0f);
quad[2].coord = Math::Vector(-1.0f, 1.0f, 0.0f);
quad[3].coord = Math::Vector( 1.0f, 1.0f, 0.0f);
for (int i = 0; i < 6; ++i)
quad[i].color = Gfx::Color(1.0f, 1.0f, 0.0f);
Math::LoadTranslationMatrix(worldMat, Math::Vector(40.0f, 2.0f, 40.0f));
device->SetTransform(Gfx::TRANSFORM_WORLD, worldMat);
device->DrawPrimitive(Gfx::PRIMITIVE_TRIANGLE_STRIP, quad, 4);
for (int i = 0; i < 6; ++i)
quad[i].color = Gfx::Color(0.0f, 1.0f, 1.0f);
Math::LoadTranslationMatrix(worldMat, Math::Vector(-40.0f, 2.0f, -40.0f));
device->SetTransform(Gfx::TRANSFORM_WORLD, worldMat);
int planes = device->ComputeSphereVisibility(Math::Vector(0.0f, 0.0f, 0.0f), 1.0f);
printf("Planes:");
if (planes == 0)
printf(" (none)");
if (planes & Gfx::FRUSTUM_PLANE_LEFT)
printf(" LEFT");
if (planes & Gfx::FRUSTUM_PLANE_RIGHT)
printf(" RIGHT");
if (planes & Gfx::FRUSTUM_PLANE_BOTTOM)
printf(" BOTTOM");
if (planes & Gfx::FRUSTUM_PLANE_TOP)
printf(" TOP");
if (planes & Gfx::FRUSTUM_PLANE_FRONT)
printf(" FRONT");
if (planes & Gfx::FRUSTUM_PLANE_BACK)
printf(" BACK");
printf("\n");
device->DrawPrimitive(Gfx::PRIMITIVE_TRIANGLE_STRIP, quad, 4);
for (int i = 0; i < 6; ++i)
quad[i].color = Gfx::Color(1.0f, 0.0f, 1.0f);
Math::LoadTranslationMatrix(worldMat, Math::Vector(10.0f, 4.5f, 5.0f));
device->SetTransform(Gfx::TRANSFORM_WORLD, worldMat);
device->DrawPrimitive(Gfx::PRIMITIVE_TRIANGLE_STRIP, quad, 4);
/* Moving lit cube */
device->SetRenderState(Gfx::RENDER_STATE_LIGHTING, true);
device->SetRenderState(Gfx::RENDER_STATE_CULLING, true); // Culling (CCW faces)
device->SetGlobalAmbient(Gfx::Color(0.4f, 0.4f, 0.4f));
Gfx::Light light1;
light1.type = Gfx::LIGHT_POINT;
light1.position = Math::Vector(10.0f, 4.5f, 5.0f);
light1.ambient = Gfx::Color(0.2f, 0.2f, 0.2f);
light1.diffuse = Gfx::Color(1.0f, 0.1f, 0.1f);
light1.specular = Gfx::Color(0.0f, 0.0f, 0.0f);
device->SetLight(0, light1);
device->SetLightEnabled(0, true);
/*Gfx::Light light2;
device->SetLight(1, light2);
device->SetLightEnabled(1, true);*/
Gfx::Material material;
material.ambient = Gfx::Color(0.3f, 0.3f, 0.3f);
material.diffuse = Gfx::Color(0.8f, 0.7f, 0.6f);
material.specular = Gfx::Color(0.0f, 0.0f, 0.0f);
device->SetMaterial(material);
const Gfx::Vertex cube[6][4] =
{
{
// Front
Gfx::Vertex(Math::Vector(-1.0f, -1.0f, -1.0f), Math::Vector( 0.0f, 0.0f, -1.0f)),
Gfx::Vertex(Math::Vector( 1.0f, -1.0f, -1.0f), Math::Vector( 0.0f, 0.0f, -1.0f)),
Gfx::Vertex(Math::Vector(-1.0f, 1.0f, -1.0f), Math::Vector( 0.0f, 0.0f, -1.0f)),
Gfx::Vertex(Math::Vector( 1.0f, 1.0f, -1.0f), Math::Vector( 0.0f, 0.0f, -1.0f))
},
{
// Back
Gfx::Vertex(Math::Vector( 1.0f, -1.0f, 1.0f), Math::Vector( 0.0f, 0.0f, 1.0f)),
Gfx::Vertex(Math::Vector(-1.0f, -1.0f, 1.0f), Math::Vector( 0.0f, 0.0f, 1.0f)),
Gfx::Vertex(Math::Vector( 1.0f, 1.0f, 1.0f), Math::Vector( 0.0f, 0.0f, 1.0f)),
Gfx::Vertex(Math::Vector(-1.0f, 1.0f, 1.0f), Math::Vector( 0.0f, 0.0f, 1.0f))
},
{
// Top
Gfx::Vertex(Math::Vector(-1.0f, 1.0f, -1.0f), Math::Vector( 0.0f, 1.0f, 0.0f)),
Gfx::Vertex(Math::Vector( 1.0f, 1.0f, -1.0f), Math::Vector( 0.0f, 1.0f, 0.0f)),
Gfx::Vertex(Math::Vector(-1.0f, 1.0f, 1.0f), Math::Vector( 0.0f, 1.0f, 0.0f)),
Gfx::Vertex(Math::Vector( 1.0f, 1.0f, 1.0f), Math::Vector( 0.0f, 1.0f, 0.0f))
},
{
// Bottom
Gfx::Vertex(Math::Vector(-1.0f, -1.0f, 1.0f), Math::Vector( 0.0f, -1.0f, 0.0f)),
Gfx::Vertex(Math::Vector( 1.0f, -1.0f, 1.0f), Math::Vector( 0.0f, -1.0f, 0.0f)),
Gfx::Vertex(Math::Vector(-1.0f, -1.0f, -1.0f), Math::Vector( 0.0f, -1.0f, 0.0f)),
Gfx::Vertex(Math::Vector( 1.0f, -1.0f, -1.0f), Math::Vector( 0.0f, -1.0f, 0.0f))
},
{
// Left
Gfx::Vertex(Math::Vector(-1.0f, -1.0f, 1.0f), Math::Vector(-1.0f, 0.0f, 0.0f)),
Gfx::Vertex(Math::Vector(-1.0f, -1.0f, -1.0f), Math::Vector(-1.0f, 0.0f, 0.0f)),
Gfx::Vertex(Math::Vector(-1.0f, 1.0f, 1.0f), Math::Vector(-1.0f, 0.0f, 0.0f)),
Gfx::Vertex(Math::Vector(-1.0f, 1.0f, -1.0f), Math::Vector(-1.0f, 0.0f, 0.0f))
},
{
// Right
Gfx::Vertex(Math::Vector( 1.0f, -1.0f, -1.0f), Math::Vector( 1.0f, 0.0f, 0.0f)),
Gfx::Vertex(Math::Vector( 1.0f, -1.0f, 1.0f), Math::Vector( 1.0f, 0.0f, 0.0f)),
Gfx::Vertex(Math::Vector( 1.0f, 1.0f, -1.0f), Math::Vector( 1.0f, 0.0f, 0.0f)),
Gfx::Vertex(Math::Vector( 1.0f, 1.0f, 1.0f), Math::Vector( 1.0f, 0.0f, 0.0f))
}
};
Math::Matrix cubeTrans;
Math::LoadTranslationMatrix(cubeTrans, Math::Vector(10.0f, 2.0f, 5.0f));
Math::Matrix cubeRot;
Math::LoadRotationMatrix(cubeRot, Math::Vector(0.0f, 1.0f, 0.0f), CUBE_ORBIT);
Math::Matrix cubeRotInv;
Math::LoadRotationMatrix(cubeRotInv, Math::Vector(0.0f, 1.0f, 0.0f), -CUBE_ORBIT);
Math::Matrix cubeTransRad;
Math::LoadTranslationMatrix(cubeTransRad, Math::Vector(0.0f, 0.0f, 6.0f));
worldMat = Math::MultiplyMatrices(cubeTransRad, cubeRotInv);
worldMat = Math::MultiplyMatrices(cubeRot, worldMat);
worldMat = Math::MultiplyMatrices(cubeTrans, worldMat);
device->SetTransform(Gfx::TRANSFORM_WORLD, worldMat);
for (int i = 0; i < 6; ++i)
device->DrawPrimitive(Gfx::PRIMITIVE_TRIANGLE_STRIP, cube[i], 4);
device->EndScene();
}
