void dgSolver::CalculateJointForces(const dgBodyCluster& cluster, dgBodyInfo* const bodyArray, dgJointInfo* const jointArray, dgFloat32 timestep)
{
m_cluster = &cluster;
m_bodyArray = bodyArray;
m_jointArray = jointArray;
m_timestep = timestep;
m_invTimestep = (timestep > dgFloat32(0.0f)) ? dgFloat32(1.0f) / timestep : dgFloat32(0.0f);
m_invStepRK = dgFloat32 (0.25f);
m_timestepRK = m_timestep * m_invStepRK;
m_invTimestepRK = m_invTimestep * dgFloat32 (4.0f);
m_threadCounts = m_world->GetThreadCount();
m_solverPasses = m_world->GetSolverIterations();
dgInt32 mask = -dgInt32(DG_SOA_WORD_GROUP_SIZE - 1);
m_jointCount = ((m_cluster->m_jointCount + DG_SOA_WORD_GROUP_SIZE - 1) & mask) / DG_SOA_WORD_GROUP_SIZE;
m_bodyProxyArray = dgAlloca(dgBodyProxy, cluster.m_bodyCount);
m_bodyJacobiansPairs = dgAlloca(dgBodyJacobianPair, cluster.m_jointCount * 2);
m_soaRowStart = dgAlloca(dgInt32, cluster.m_jointCount / DG_SOA_WORD_GROUP_SIZE + 1);
InitWeights();
InitBodyArray();
InitJacobianMatrix();
CalculateForces();
}
bool LeeRoutePlannerImpl::EndAddPoints( void )
{
bool bSuccess=false;
m_width=abs(m_maxX-m_minX)+m_border*2;
m_height=abs(m_maxY-m_minY)+m_border*2;
assert(m_height>0);
assert(m_width>0);
bSuccess=m_width>0 && m_height>0;
if ( bSuccess )
{
grid_vertices_size_type i, numvertices;
numvertices=grid_vertices_size_type((m_width+1) * (m_height+1));
for (i=0; i<numvertices; i++)
add_vertex(m_graph);
assert(numvertices==num_vertices(m_graph));
bSuccess=numvertices==num_vertices(m_graph);
if ( bSuccess )
{
AddAllEdges();
InitWeights();
m_bgrid=true;
}
}
return bSuccess;
}
__fastcall TNeyron::TNeyron(int cnt_inputs, vector<TNeyron*> &Layer)
{
w.resize(cnt_inputs);
s.resize(cnt_inputs);
sn.resize(cnt_inputs);
InitWeights();
InitSinaps(Layer);
}
FILTER *CreateFilter(uint64_t size, uint64_t drop, uint8_t type, double
threshold){
FILTER *FIL = (FILTER *) Calloc(1, sizeof(FILTER));
FIL->size = size;
FIL->drop = drop;
FIL->type = type;
FIL->threshold = threshold;
FIL->weights = (ENTP *) Malloc((2*FIL->size+1) * sizeof(ENTP));
InitWeights(FIL);
FIL->entries = NULL;
FIL->bases = NULL;
return FIL;
}
int main() {
fl_reading_personality = 0;
fl_separate_books = 0; // opening book files can be defined in a personality description
fl_elo_slider = 0;
time_percentage = 100;
use_book = 1;
panel_style = 0;
verbose = 1;
hist_limit = 24576;
hist_perc = 175;
Timer.Init();
BB.Init();
Mask.Init();
Init();
InitWeights();
Param.Default();
Param.DynamicInit();
InitSearch();
#ifdef _WIN32 || _WIN64
// if we are on Windows search for books and settings in same directory as rodentII.exe
MainBook.bookName = "books/rodent.bin";
GuideBook.bookName = "books/guide.bin";
ReadPersonality("basic.ini");
#elif __linux || __unix
// if we are on Linux
// first check, if compiler got told where books and settings are stored
#ifdef BOOKPATH
char path[255]; // space for complete path and filename
char nameMainbook[20] = "/rodent.bin";
char nameGuidebook[20]= "/guide.bin";
char namePersonality[20]= "/basic.ini";
// process Mainbook
strcpy(path, ""); // first clear
strcpy(path, STR(BOOKPATH)); // copy path from c preprocessor here
strcat(path, nameMainbook); // append bookname
MainBook.bookName = path; // store it
// process Guidebook
strcpy(path, "");
strcpy(path, STR(BOOKPATH));
strcat(path, nameGuidebook);
GuideBook.bookName = nameGuidebook;
// process Personality file
strcpy(path, "");
strcpy(path, STR(BOOKPATH));
strcat(path, namePersonality);
ReadPersonality(path);
#else // if no path was given than we assume that files are stored at /usr/share/rodentII
MainBook.bookName = "/usr/share/rodentII/rodent.bin";
GuideBook.bookName = "/usr/share/rodentII/guide.bin";
ReadPersonality("/usr/share/rodentII/basic.ini");
#endif
#else
// a platform we have not tested yet. We assume that opening books and
// settings are stored within the same directory. Similiar to Windows.
printf("Platform unknown. We assume that opening books and settings are stored within RodentII path");
MainBook.bookName = "books/rodent.bin";
GuideBook.bookName = "books/guide.bin";
ReadPersonality("basic.ini");
#endif
MainBook.OpenPolyglot();
GuideBook.OpenPolyglot();
UciLoop();
MainBook.ClosePolyglot();
GuideBook.ClosePolyglot();
return 0;
}
Neuron::Neuron(unsigned int num_inputs) : num_inputs_(num_inputs), inputs_(NULL), weights_(NULL),
weight_diffs_(NULL), activation_function_(NULL) {
InitWeights(num_inputs);
}
