void createOrenNayar20(BSDF* bsdf)
{
Spectrum Kd(1);
float sigma = 0.0;
BxDF* bxdf = BSDF_ALLOC(arena, OrenNayar)(Kd, sigma);
bsdf->Add(bxdf);
}
double TStringKernel::KDynamicW(const TIntV& s, const TIntV& t, const TFltV& lc, const TFltV& wgt) {
int x,y,i;
const int k = lc.Len() + 1;
int ls = s.Len(), lt = t.Len();
TVec<TFltVV> Kd(2);
// s is on X-axis and t is on Y-axis
for (i = 0; i < 2; i++) Kd[i].Gen(ls+1, lt+1);
// initialize Kd for i == 0
for (x = 0; x <= ls; x++) {
for (y = 0; y <= lt; y++) {
Kd[0](x,y) = 1.0;
}
}
// calculate Kd for i == 1..k-1
double K = 0.0;
for (i = 1; i < k; i++) {
for (x = 0; x <=ls; x++) Kd[i%2](x,i-1) = 0.0;
for (y = 0; y <=lt; y++) Kd[i%2](i-1,y) = 0.0;
double Ki = 0.0;
for (x = i; x <= ls; x++) {
double Kdd = 0.0; int u = s[x-1];
for (y = i; y <= lt; y++) {
double w = wgt[t[y-1]];
if (u == t[y-1]) {
Kdd = w * (Kdd + wgt[u]*Kd[(i-1)%2](x-1,y-1));
Ki += w*w * Kd[i%2](x-1, y-1);
} else {
Kdd *= (1-w); // u is a gap! (w -> (1-w) ?)
}
Kd[i%2](x,y) = wgt[u]*Kd[i%2](x-1, y) + Kdd;
}
}
K += lc[i-1] * Ki;
}
return K;
}
void createLambertian(BSDF* bsdf)
{
Spectrum Kd(1);
BxDF* bxdf = BSDF_ALLOC(arena, Lambertian)(Kd);
bsdf->Add(bxdf);
}
//! computes interaction with a ground surface
bool simulation::AerodynamicModelContact::compute(
AerodynamicForce &aeroForce,
AerodynamicModelContactState &dynamicState,
const AerodynamicModelContactControl &control,
const dynamics::RigidBody &rigidBody,
const GroundSurface &surface) {
math::matrix3x1<float> contactLocation = rigidBody.location +
rigidBody.orientation.rotate(location);
math::matrix3x1<float> contactVelocity =
rigidBody.localParticleVelocity(location);
aeroForce.lift = math::matrix3x1<float>(0, 0, 0);
aeroForce.drag = math::matrix3x1<float>(0, 0, 0);
aeroForce.location = contactLocation;
aeroForce.velocity = contactVelocity;
aeroForce.type = AerodynamicForce::Type_invalid;
// first detect if there is a contact, defined as the location of the contact on the opposite
// side of the surface as the location of the rigidBody center
math::matrix3x1<float> P = surface.surface.normal() +
surface.surface.normal() * surface.surface.intersect(math::matrix3x1<float>::zero(), surface.surface.normal());
if (signum(surface.surface(contactLocation)) != signum(surface.surface(P))) {
math::matrix3x1<float> surfaceNorm = surface.surface.normal();
float t_i = surface.surface.intersect(contactLocation, surfaceNorm);
math::matrix3x1<float> intersection = t_i * surfaceNorm + contactLocation;
// project displacement and velocity
float t_i_dot = surfaceNorm.dot(contactVelocity);
if (impulseType == AerodynamicContactResponse::Force_impulse) {
if (t_i_dot < 0) {
math::quaternion<float> orientation = rigidBody.orientation * control.orientation;
// compute dashpot force
float forceMagnitude = Ks() * t_i - Kd() * t_i_dot;
math::matrix3x1<float> normalForce = surfaceNorm * forceMagnitude;
dynamicState.load = forceMagnitude;
// compute friction
math::matrix3x1<float> tangentVelocity = surface.surface.project(contactVelocity);
float frictionRolling = math::lerp<float>(control.brake, friction.rollingCoeff(), friction.dynamicCoeff()) * forceMagnitude;
float frictionSkidding = friction.dynamicCoeff() * forceMagnitude;
math::matrix3x1<float> tangentForce(0, 0, 0);
if (tangentVelocity.normsq() > 0.0001f) {
math::matrix3x1<float> V = tangentVelocity.unit();
math::matrix3x1<float> F = surface.surface.project(orientation.rotate(math::matrix3x1<float>(0,0,1))).unit();
math::matrix3x1<float> S = tangentVelocity.cross(surfaceNorm);
math::matrix3x1<float> rollingFriction = -frictionRolling * (std::abs(V.dot(F))) * V;
math::matrix3x1<float> skiddingFriction = frictionSkidding * (S.dot(F)) * S.unit();
tangentForce = rollingFriction + skiddingFriction;
}
else {
}
// wheels spinning
dynamicState.angularVelocity = -tangentVelocity.magnitude() / bogeyModel.x;
// compute netforce
aeroForce.lift = normalForce;
aeroForce.drag = tangentForce;
aeroForce.location = rigidBody.orientation.rotate(location);
aeroForce.type = AerodynamicForce::Contact_force;
return true;
}
}
else if (type == AerodynamicContactResponse::Velocity_impulse) {
// zero the velocity
}
}
else {
dynamicState.load = 0;
}
return false;
}
int Renderer::preview( const std::string& fileName, const liqPreviewShaderOptions& options )
{
CM_TRACE_FUNC("Renderer::preview("<<fileName<<","<<options.shaderNodeName<<")");
std::string shaderFileName;
liqShader currentShader;
MObject shaderObj;
MString shader_type_TempForRefactoring;// [2/14/2012 yaoyansi]
if ( options.fullShaderPath )
{
// a full shader path was specified
//cout <<"[liquid] got full path for preview !"<<endl;
//shaderFileName = const_cast<char*>(options.shaderNodeName);
std::string tmp( options.shaderNodeName );
currentShader.setShaderFileName(tmp.substr( 0, tmp.length() - 4 ) );
if ( options.type == "surface" ){
assert(0&&"we should use currentShader.shader_type_ex = \"surface\"");
//currentShader.shader_type = SHADER_TYPE_SURFACE;// [2/14/2012 yaoyansi]
shader_type_TempForRefactoring = "surface";
}else if ( options.type == "displacement" ){
assert(0&&"we should use currentShader.shader_type_ex = \"displacement\"");
//currentShader.shader_type = SHADER_TYPE_DISPLACEMENT;// [2/14/2012 yaoyansi]
shader_type_TempForRefactoring = "displacement";
}
//cout <<"[liquid] options.shaderNodeName = " << options.shaderNodeName << endl;
//cout <<"[liquid] options.type = "<<options.type<<endl;
}
else
{
// a shader node was specified
MSelectionList shaderNameList;
shaderNameList.add( options.shaderNodeName.c_str() );
shaderNameList.getDependNode( 0, shaderObj );
if( shaderObj == MObject::kNullObj )
{
MGlobal::displayError( std::string( "Can't find node for " + options.shaderNodeName ).c_str() );
RiEnd();
return 0;
}
currentShader = liqShader( shaderObj );
shader_type_TempForRefactoring = currentShader.shader_type_ex;
shaderFileName = currentShader.getShaderFileName();
}
MFnDependencyNode assignedShader( shaderObj );
// Get the Pathes in globals node
MObject globalObjNode;
MString liquidShaderPath = "",liquidTexturePath = "",liquidProceduralPath = "";
MStatus status;
MSelectionList globalList;
// get the current project directory
MString MELCommand = "workspace -q -rd";
MString MELReturn;
MGlobal::executeCommand( MELCommand, MELReturn );
MString liquidProjectDir = MELReturn;
status = globalList.add( "liquidGlobals" );
if ( globalList.length() > 0 )
{
status.clear();
status = globalList.getDependNode( 0, globalObjNode );
MFnDependencyNode globalNode( globalObjNode );
liquidGetPlugValue( globalNode, "shaderPath", liquidShaderPath, status);
liquidGetPlugValue( globalNode, "texturePath", liquidTexturePath, status);
liquidGetPlugValue( globalNode, "proceduralPath", liquidProceduralPath, status);
}
if( fileName.empty() )
{
RiBegin_liq( NULL );
#ifdef DELIGHT
//RtPointer callBack( progressCallBack );
//RiOption( "statistics", "progresscallback", &callBack, RI_NULL );
#endif
}
else {
liquidMessage2(messageInfo,"preview rib file: [%s]", fileName.c_str());
RiBegin_liq( (RtToken)fileName.c_str() );
}
std::string liquidHomeDir = liquidSanitizeSearchPath( getEnvironment( "LIQUIDHOME" ) );
std::string shaderPath( "&:@:.:~:" + liquidHomeDir + "/lib/shaders" );
std::string texturePath( "&:@:.:~:" + liquidHomeDir + "/lib/textures" );
std::string proceduralPath( "&:@:.:~:" + liquidHomeDir + "/lib/shaders" );
std::string projectDir = std::string( liquidSanitizeSearchPath( liquidProjectDir ).asChar() );
if ( liquidProjectDir != "")
{
shaderPath += ":" + projectDir;
texturePath += ":" + projectDir;
proceduralPath += ":" + projectDir;
}
if ( liquidShaderPath != "" )
shaderPath += ":" + std::string( liquidSanitizeSearchPath( parseString( liquidShaderPath, false ) ).asChar());
if ( liquidTexturePath != "" )
texturePath += ":" + std::string( liquidSanitizeSearchPath( parseString( liquidTexturePath, false) ).asChar());
if ( liquidProceduralPath != "" )
proceduralPath += ":" + std::string( liquidSanitizeSearchPath( parseString( liquidProceduralPath, false) ).asChar());
RtString list( const_cast< RtString >( shaderPath.c_str() ) );
RiOption( "searchpath", "shader", &list, RI_NULL );
RtString texPath( const_cast< RtString >( texturePath.c_str() ) );
if( texPath[ 0 ] )
RiOption( "searchpath","texture", &texPath, RI_NULL );
RtString procPath( const_cast< RtString >( proceduralPath.c_str() ) );
if( procPath[ 0 ] )
RiOption( "searchpath","procedural", &procPath, RI_NULL );
RiShadingRate( ( RtFloat )options.shadingRate );
RiPixelSamples( options.pixelSamples, options.pixelSamples );
#ifdef PRMAN
if ( MString( "PRMan" ) == liqglo.liquidRenderer.renderName )
RiPixelFilter( RiCatmullRomFilter, 4., 4. );
#elif defined( DELIGHT )
if ( MString( "3Delight" ) == liqglo.liquidRenderer.renderName )
RiPixelFilter( RiSeparableCatmullRomFilter, 4., 4. );
// RiPixelFilter( RiMitchellFilter, 4., 4.);
#else
RiPixelFilter( RiCatmullRomFilter, 4., 4. );
#endif
RiFormat( ( RtInt )options.displaySize, ( RtInt )options.displaySize, 1.0 );
if( options.backPlane )
{
RiDisplay( const_cast< RtString >( options.displayName.c_str() ),
const_cast< RtString >( options.displayDriver.c_str() ), RI_RGB, RI_NULL );
}
else
{ // Alpha might be useful
RiDisplay( const_cast< RtString >( options.displayName.c_str() ),
const_cast< RtString >( options.displayDriver.c_str() ), RI_RGBA, RI_NULL );
}
RtFloat fov( 22.5 );
RiProjection( "perspective", "fov", &fov, RI_NULL );
RiTranslate( 0, 0, 2.75 );
RiExposure(1, currentShader.m_previewGamma);
RtInt visible = 1;
RtString transmission = "transparent";
RiAttribute( "visibility", ( RtToken ) "camera", &visible, RI_NULL );
RiAttribute( "visibility", ( RtToken ) "trace", &visible, RI_NULL );
// RiAttribute( "visibility", ( RtToken ) "transmission", ( RtPointer ) &transmission, RI_NULL );
RiWorldBegin();
RiReverseOrientation();
RiTransformBegin();
RiRotate( -90., 1., 0., 0. );
RiCoordinateSystem( "_environment" );
RiTransformEnd();
RtLightHandle ambientLightH, directionalLightH;
RtFloat intensity;
intensity = 0.05 * (RtFloat)options.previewIntensity;
ambientLightH = RiLightSource( "ambientlight", "intensity", &intensity, RI_NULL );
intensity = 0.9 * (RtFloat)options.previewIntensity;
RtPoint from;
RtPoint to;
from[0] = -1.; from[1] = 1.5; from[2] = -1.;
to[0] = 0.; to[1] = 0.; to[2] = 0.;
RiTransformBegin();
RiRotate( 55., 1, 0, 0 );
RiRotate( 30., 0, 1, 0 );
directionalLightH = RiLightSource( "liquiddistant", "intensity", &intensity, RI_NULL );
RiTransformEnd();
intensity = 0.2f * (RtFloat)options.previewIntensity;
from[0] = 1.3f; from[1] = -1.2f; from[2] = -1.;
RiTransformBegin();
RiRotate( -50., 1, 0, 0 );
RiRotate( -40., 0, 1, 0 );
directionalLightH = RiLightSource( "liquiddistant", "intensity", &intensity, RI_NULL );
RiTransformEnd();
RiAttributeBegin();
//ymesh omit this section, because liqShader::writeRibAttributes() do this work in that branch
//I don't use liqShader::writeRibAttributes(), so I use this section. -yayansi
float displacementBounds = 0.;
liquidGetPlugValue( assignedShader, "displacementBound", displacementBounds, status);
if ( displacementBounds > 0. )
{
RtString coordsys = "shader";
RiArchiveRecord( RI_COMMENT, "ymesh omit this section, because liqShader::writeRibAttributes do this work in that branch" );
RiAttribute( "displacementbound", "coordinatesystem", &coordsys, RI_NULL );
RiAttribute( "displacementbound", "sphere", &displacementBounds, "coordinatesystem", &coordsys, RI_NULL );
}
//LIQ_GET_SHADER_FILE_NAME( shaderFileName, options.shortShaderName, currentShader );
// output shader space
MString shadingSpace;
liquidGetPlugValue( assignedShader, "shaderSpace", shadingSpace, status);
if ( shadingSpace != "" )
{
RiTransformBegin();
RiCoordSysTransform( (char*) shadingSpace.asChar() );
}
RiTransformBegin();
// Rotate shader space to make the preview more interesting
RiRotate( 60., 1., 0., 0. );
RiRotate( 60., 0., 1., 0. );
RtFloat scale( 1.f / ( RtFloat )options.objectScale );
RiScale( scale, scale, scale );
if ( shader_type_TempForRefactoring=="surface" || shader_type_TempForRefactoring=="shader"/*currentShader.shader_type == SHADER_TYPE_SURFACE || currentShader.shader_type == SHADER_TYPE_SHADER */ ) // [2/14/2012 yaoyansi]
{
RiColor( currentShader.rmColor );
RiOpacity( currentShader.rmOpacity );
//cout << "Shader: " << shaderFileName << endl;
if ( options.fullShaderPath )
RiSurface( (RtToken)shaderFileName.c_str(), RI_NULL );
else
{
liqShader liqAssignedShader( shaderObj );
liqAssignedShader.forceAs = SHADER_TYPE_SURFACE;
liqAssignedShader.write();
}
}
else if ( shader_type_TempForRefactoring=="displacement"/*currentShader.shader_type == SHADER_TYPE_DISPLACEMENT*/ ) // [2/14/2012 yaoyansi]
{
RtToken Kd( "Kd" );
RtFloat KdValue( 1. );
#ifdef GENERIC_RIBLIB
// !!! current ribLib has wrong interpretation of RiSurface parameters
RiSurface( "plastic", Kd, &KdValue, RI_NULL );
#else
RiSurface( "plastic", &Kd, &KdValue, RI_NULL );
#endif
if ( options.fullShaderPath )
RiDisplacement( (RtToken)shaderFileName.c_str(), RI_NULL );
else
{
liqShader liqAssignedShader( shaderObj );
liqAssignedShader.forceAs = SHADER_TYPE_DISPLACEMENT;
liqAssignedShader.write();
}
}
RiTransformEnd();
if ( shadingSpace != "" )
RiTransformEnd();
switch( options.primitiveType )
{
case CYLINDER:
{
RiReverseOrientation();
RiScale( 0.95, 0.95, 0.95 );
RiRotate( 60., 1., 0., 0. );
RiTranslate( 0., 0., -0.05 );
RiCylinder( 0.5, -0.3, 0.3, 360., RI_NULL );
RiTranslate( 0., 0., 0.3f );
RiTorus( 0.485, 0.015, 0., 90., 360., RI_NULL );
RiDisk( 0.015, 0.485, 360., RI_NULL );
RiTranslate( 0., 0., -0.6 );
RiTorus( 0.485, 0.015, 270., 360., 360., RI_NULL );
RiReverseOrientation();
RiDisk( -0.015, 0.485, 360., RI_NULL );
break;
}
case TORUS:
{
RiRotate( 45., 1., 0., 0. );
RiTranslate( 0., 0., -0.05 );
RiReverseOrientation();
RiTorus( 0.3f, 0.2f, 0., 360., 360., RI_NULL );
break;
}
case PLANE:
{
RiScale( 0.5, 0.5, 0.5 );
RiReverseOrientation();
static RtPoint plane[4] = {
{ -1., 1., 0. },
{ 1., 1., 0. },
{ -1., -1., 0. },
{ 1., -1., 0. }
};
RiPatch( RI_BILINEAR, RI_P, (RtPointer) plane, RI_NULL );
break;
}
case TEAPOT:
{
RiTranslate( 0.06f, -0.18f, 0. );
RiRotate( -120., 1., 0., 0. );
RiRotate( 130., 0., 0., 1. );
RiScale( 0.2f, 0.2f, 0.2f );
RiArchiveRecord( RI_VERBATIM, "Geometry \"teapot\"" );
break;
}
case CUBE:
{
/* Lovely cube with rounded corners and edges */
RiScale( 0.35f, 0.35f, 0.35f );
RiRotate( 60., 1., 0., 0. );
RiRotate( 60., 0., 0., 1. );
RiTranslate( 0.11f, 0., -0.08f );
RiReverseOrientation();
static RtPoint top[ 4 ] = { { -0.95, 0.95, -1. }, { 0.95, 0.95, -1. }, { -0.95, -0.95, -1. }, { 0.95, -0.95, -1. } };
RiPatch( RI_BILINEAR, RI_P, ( RtPointer ) top, RI_NULL );
static RtPoint bottom[ 4 ] = { { 0.95, 0.95, 1. }, { -0.95, 0.95, 1. }, { 0.95, -0.95, 1. }, { -0.95, -0.95, 1. } };
RiPatch( RI_BILINEAR, RI_P, ( RtPointer ) bottom, RI_NULL );
static RtPoint right[ 4 ] = { { -0.95, -1., -0.95 }, { 0.95, -1., -0.95 }, { -0.95, -1., 0.95 }, { 0.95, -1., 0.95 } };
RiPatch( RI_BILINEAR, RI_P, ( RtPointer ) right, RI_NULL );
static RtPoint left[ 4 ] = { { 0.95, 1., -0.95 }, { -0.95, 1., -0.95 }, { 0.95, 1., 0.95 }, { -0.95, 1., 0.95 } };
RiPatch( RI_BILINEAR, RI_P, ( RtPointer ) left, RI_NULL );
static RtPoint front[ 4 ] = { {-1., 0.95, -0.95 }, { -1., -0.95, -0.95 }, { -1., 0.95, 0.95 }, { -1., -0.95, 0.95 } };
RiPatch( RI_BILINEAR, RI_P, ( RtPointer ) front, RI_NULL );
static RtPoint back[ 4 ] = { { 1., -0.95, -0.95 }, { 1., 0.95, -0.95 }, { 1., -0.95, 0.95 }, { 1., 0.95, 0.95 } };
RiPatch( RI_BILINEAR, RI_P, ( RtPointer ) back, RI_NULL );
RiTransformBegin();
RiTranslate( 0.95, 0.95, 0. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( 0.95, -0.95, 0. );
RiRotate( -90., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( -0.95, 0.95, 0. );
RiRotate( 90., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( -0.95, -0.95, 0. );
RiRotate( 180., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( 0., 0., 0.95 );
RiTransformBegin();
RiTransformBegin();
RiTranslate( 0.95, 0.95, 0. );
RiSphere( 0.05, 0., 0.05, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( 0.95, -0.95, 0. );
RiRotate( -90., 0., 0., 1. );
RiSphere( 0.05, 0., 0.05, 90., RI_NULL );
RiTransformEnd();
RiRotate( 180., 0., 0., 1. );
RiTransformBegin();
RiTranslate( 0.95, 0.95, 0. );
RiSphere( 0.05, 0., 0.05, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( 0.95, -0.95, 0. );
RiRotate( -90., 0., 0., 1. );
RiSphere( 0.05, 0., 0.05, 90., RI_NULL );
RiTransformEnd();
RiTransformEnd();
RiRotate( 90., 1., 0., 0. );
RiTransformBegin();
RiTranslate( 0.95, 0., 0. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( -0.95, 0., 0. );
RiRotate( 90., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiRotate( 90., 0., 1., 0. );
RiTransformBegin();
RiTranslate( 0.95, 0., 0. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( -0.95, 0., 0. );
RiRotate( 90., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformEnd();
RiTransformBegin();
RiTranslate( 0., 0., -0.95 );
RiTransformBegin();
RiTransformBegin();
RiTranslate( 0.95, 0.95, 0. );
RiSphere( 0.05, -0.05, 0., 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( 0.95, -0.95, 0. );
RiRotate( -90., 0., 0., 1. );
RiSphere( 0.05, -0.05, 0., 90., RI_NULL );
RiTransformEnd();
RiRotate( 180., 0., 0., 1. );
RiTransformBegin();
RiTranslate( 0.95, 0.95, 0. );
RiSphere( 0.05, -0.05, 0., 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( 0.95, -0.95, 0. );
RiRotate( -90., 0., 0., 1. );
RiSphere( 0.05, -0.05, 0., 90., RI_NULL );
RiTransformEnd();
RiTransformEnd();
RiRotate( 90., 1., 0., 0. );
RiTransformBegin();
RiTranslate( -0.95, 0., 0. );
RiRotate( 180., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( 0.95, 0., 0. );
RiRotate( -90., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiRotate( 90., 0., 1., 0. );
RiTransformBegin();
RiTranslate( 0.95, 0., 0. );
RiRotate( -90., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformBegin();
RiTranslate( -0.95, 0., 0. );
RiRotate( 180., 0., 0., 1. );
RiCylinder( 0.05, -0.95, 0.95, 90., RI_NULL );
RiTransformEnd();
RiTransformEnd();
break;
}
case CUSTOM:
{
//cout <<"custom : "<<options.customRibFile<<endl;
if ( fileExists( options.customRibFile.c_str() ) )
{
RiReadArchive( const_cast< RtToken >( options.customRibFile.c_str() ), NULL, RI_NULL );
}
break;
}
case SPHERE:
default:
{
RiRotate( 60., 1., 0., 0. );
RiReverseOrientation();
RiSphere( 0.5, -0.5, 0.5, 360., RI_NULL );
break;
}
}
RiAttributeEnd();
/*
* Backplane
*/
if( options.backPlane )
{
if ( options.customBackplane.empty() )
{
RiAttributeBegin();
RiScale( 0.91, 0.91, 0.91 );
if( MString("displacement")==shader_type_TempForRefactoring/*SHADER_TYPE_DISPLACEMENT == currentShader.shader_type*/ ) // [2/14/2012 yaoyansi]
{
RtColor bg = { 0.698, 0.698, 0. };
RiColor( bg );
} else
RiSurface( const_cast< RtToken >( options.backPlaneShader.c_str() ), RI_NULL );
static RtPoint backplane[4] = {
{ -1., 1., 2. },
{ 1., 1., 2. },
{ -1., -1., 2. },
{ 1., -1., 2. }
};
RiPatch( RI_BILINEAR, RI_P, (RtPointer) backplane, RI_NULL );
RiAttributeEnd();
}
else
{
if ( fileExists( options.customBackplane.c_str() ) )
{
RiAttributeBegin();
RiScale( 1., 1., -1. );
RiReadArchive( const_cast< RtString >( options.customBackplane.c_str() ), NULL, RI_NULL );
RiAttributeEnd();
}
}
}
RiWorldEnd();
/* this caused maya to hang up under windoof - Alf
#ifdef _WIN32
// Wait until the renderer is done
while( !fileFullyAccessible( options.displayName.c_str() ) );
#endif
*/
RiEnd();
if(liqglo.m_logMsgFlush)
{
fflush( NULL );
}
}
int main( int argc, char** argv ){
#if (CISST_OS == CISST_LINUX_XENOMAI)
mlockall(MCL_CURRENT | MCL_FUTURE);
RT_TASK task;
rt_task_shadow( &task, "GroupTest", 99, 0 );
#endif
cmnLogger::SetMask( CMN_LOG_ALLOW_ALL );
cmnLogger::SetMaskFunction( CMN_LOG_ALLOW_ALL );
cmnLogger::SetMaskDefaultLog( CMN_LOG_ALLOW_ALL );
if( argc != 2 ){
std::cout << "Usage: " << argv[0] << " can[0-1]" << std::endl;
return -1;
}
#if (CISST_OS == CISST_LINUX_XENOMAI)
osaRTSocketCAN can( argv[1], osaCANBus::RATE_1000 );
#else
osaSocketCAN can( argv[1], osaCANBus::RATE_1000 );
#endif
if( can.Open() != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << argv[0] << "Failed to open " << argv[1] << std::endl;
return -1;
}
osaWAM WAM( &can );
if( WAM.Initialize() != osaWAM::ESUCCESS ){
CMN_LOG_RUN_ERROR << "Failed to initialize WAM" << std::endl;
return -1;
}
vctDynamicVector<double> qinit( 7, 0.0 );
qinit[1] = -cmnPI_2;
qinit[3] = cmnPI;
if( WAM.SetPositions( qinit ) != osaWAM::ESUCCESS ){
CMN_LOG_RUN_ERROR << "Failed to set position: " << qinit << std::endl;
return -1;
}
cmnPath path;
path.AddRelativeToCisstShare("/models/WAM");
std::string fname = path.Find("wam7.rob", cmnPath::READ);
// Rotate the base
vctMatrixRotation3<double> Rw0( 0.0, 0.0, -1.0,
0.0, 1.0, 0.0,
1.0, 0.0, 0.0 );
vctFixedSizeVector<double,3> tw0(0.0);
vctFrame4x4<double> Rtw0( Rw0, tw0 );
// Gain matrices
vctDynamicMatrix<double> Kp(7, 7, 0.0), Kd(7, 7, 0.0);
Kp[0][0] = 250; Kd[0][0] = 3.0;
Kp[1][1] = 250; Kd[1][1] = 3.0;
Kp[2][2] = 250; Kd[2][2] = 3.0;
Kp[3][3] = 200; Kd[3][3] = 3;
Kp[4][4] = 50; Kd[4][4] = 0.8;
Kp[5][5] = 50; Kd[5][5] = 0.8;
Kp[6][6] = 10; Kd[6][6] = .1;
osaPDGC PDGC( fname, Rtw0, Kp, Kd, qinit );
std::cout << "Activate the WAM" << std::endl;
bool activated = false;
double t1 = osaGetTime();
while( 1 ){
// Get the positions
vctDynamicVector<double> q;
if( WAM.GetPositions( q ) != osaWAM::ESUCCESS ){
CMN_LOG_RUN_ERROR << "Failed to get positions" << std::endl;
return -1;
}
// Check if the pucks are activated
if( !activated ) {
osaWAM::Mode mode;
if( WAM.GetMode( mode ) != osaWAM::ESUCCESS ){
CMN_LOG_RUN_ERROR << "Failed to get mode" << std::endl;
return -1;
}
if( mode == osaWAM::MODE_ACTIVATED )
{ activated = true; }
}
// if pucks are activated, run the controller
vctDynamicVector<double> tau( q.size(), 0.0 );
double t2 = osaGetTime();
if( activated ){
if( PDGC.Evaluate( qinit, q, tau, t2-t1 ) != osaPDGC::ESUCCESS ){
CMN_LOG_RUN_ERROR << "Failed to evaluate controller" << std::endl;
return -1;
}
}
t1 = t2;
// apply torques
if( WAM.SetTorques( tau ) != osaWAM::ESUCCESS ){
CMN_LOG_RUN_ERROR << "Failed to set torques" << std::endl;
return -1;
}
std::cout << "q: " << q << std::endl;
std::cout << "tau: " << tau << std::endl;
}
return 0;
}
int main( int argc, char** argv ){
#if (CISST_OS == CISST_LINUX_XENOMAI)
mlockall(MCL_CURRENT | MCL_FUTURE);
RT_TASK task;
rt_task_shadow( &task, "mtsWAMPDGCExample", 40, 0 );
#endif
cmnLogger::SetMask( CMN_LOG_ALLOW_ALL );
cmnLogger::SetMaskFunction( CMN_LOG_ALLOW_ALL );
cmnLogger::SetMaskDefaultLog( CMN_LOG_ALLOW_ALL );
if( argc != 3 ){
std::cout << "Usage: " << argv[0] << " can[0-1] GCMIP" << std::endl;
return -1;
}
std::string process( "Slave" );
mtsManagerLocal* taskManager = NULL;
try{ taskManager = mtsTaskManager::GetInstance( argv[2], process ); }
catch( ... ){
std::cerr << "Failed to connect to GCM: " << argv[2] << std::endl;
taskManager = mtsManagerLocal::GetInstance();
}
mtsKeyboard kb;
kb.SetQuitKey( 'q' );
kb.AddKeyWriteFunction( 'C', "PDGCEnable", "Enable", true );
kb.AddKeyWriteFunction( 'C', "TrajEnable", "Enable", true );
kb.AddKeyWriteFunction( 'M', "MoveEnable", "Enable", true );
taskManager->AddComponent( &kb );
// Initial configuration
vctDynamicVector<double> qinit( 7, 0.0 );
qinit[1] = -cmnPI_2;
qinit[3] = cmnPI-0.01;
qinit[5] = -cmnPI_2;
#if (CISST_OS == CISST_LINUX_XENOMAI)
osaRTSocketCAN can( argv[1], osaCANBus::RATE_1000 );
#else
osaSocketCAN can( argv[1], osaCANBus::RATE_1000 );
#endif
if( can.Open() != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << argv[0] << "Failed to open " << argv[1] << std::endl;
return -1;
}
mtsWAM WAM( "WAM", &can, osaWAM::WAM_7DOF, OSA_CPU4, 80 );
WAM.Configure();
WAM.SetPositions( qinit );
taskManager->AddComponent( &WAM );
cmnPath path;
path.AddRelativeToCisstShare("models/WAM");
// Rotate the base
vctMatrixRotation3<double> Rw0( 0.0, 0.0, -1.0,
0.0, 1.0, 0.0,
1.0, 0.0, 0.0 );
vctFixedSizeVector<double,3> tw0(0.0);
vctFrame4x4<double> Rtw0( Rw0, tw0 );
// Gain matrices
vctDynamicMatrix<double> Kp(7, 7, 0.0), Kd(7, 7, 0.0);
Kp[0][0] = 250; Kd[0][0] = 3.0;
Kp[1][1] = 250; Kd[1][1] = 3.0;
Kp[2][2] = 250; Kd[2][2] = 3.0;
Kp[3][3] = 200; Kd[3][3] = 3;
Kp[4][4] = 50; Kd[4][4] = 0.8;
Kp[5][5] = 50; Kd[5][5] = 0.8;
Kp[6][6] = 10; Kd[6][6] = .1;
mtsPDGC PDGC( "PDGC",
0.00125,
path.Find( "wam7cutter.rob" ),
Rtw0,
Kp,
Kd,
qinit,
OSA_CPU3 );
taskManager->AddComponent( &PDGC );
mtsTrajectory traj( "trajectory",
0.002,
path.Find( "wam7cutter.rob" ),
Rtw0,
qinit );
taskManager->AddComponent( &traj );
SetPoints setpoints( path.Find( "wam7cutter.rob" ), Rtw0, qinit );
taskManager->AddComponent( &setpoints );
// Connect the keyboard
if( !taskManager->Connect( kb.GetName(), "PDGCEnable",
PDGC.GetName(),"Control") ){
std::cout << "Failed to connect: "
<< kb.GetName() << "::PDGCEnable to "
<< PDGC.GetName() << "::Control" << std::endl;
return -1;
}
if( !taskManager->Connect( kb.GetName(), "TrajEnable",
traj.GetName(),"Control") ){
std::cout << "Failed to connect: "
<< kb.GetName() << "::TrajEnable to "
<< traj.GetName() << "::Control" << std::endl;
return -1;
}
if( !taskManager->Connect( kb.GetName(), "MoveEnable",
setpoints.GetName(),"Control") ){
std::cout << "Failed to connect: "
<< kb.GetName() << "::TrajEnable to "
<< setpoints.GetName() << "::Control" << std::endl;
return -1;
}
// connect the trajectory with setpoints
if( !taskManager->Connect( traj.GetName(), "Input",
setpoints.GetName(), "Output" ) ){
std::cout << "Failed to connect: "
<< traj.GetName() << "::Input to "
<< setpoints.GetName() << "::Output" << std::endl;
return -1;
}
// connect the trajectory to the controller
if( !taskManager->Connect( traj.GetName(), "Output",
PDGC.GetName(), "Input") ){
std::cout << "Failed to connect: "
<< traj.GetName() << "::Output to "
<< PDGC.GetName() << "::Input" << std::endl;
return -1;
}
// connect the controller to the WAM
if( !taskManager->Connect( WAM.GetName(), "Input",
PDGC.GetName(), "Output" ) ){
std::cout << "Failed to connect: "
<< WAM.GetName() << "::Input to "
<< PDGC.GetName() << "::Output" << std::endl;
return -1;
}
if( !taskManager->Connect( WAM.GetName(), "Output",
PDGC.GetName(), "Feedback" ) ){
std::cout << "Failed to connect: "
<< WAM.GetName() << "::Output to "
<< PDGC.GetName() << "::Feedback" << std::endl;
return -1;
}
taskManager->CreateAll();
taskManager->StartAll();
std::cout << "Press 'q' to exit." << std::endl;
pause();
return 0;
}
void
beam2d02::setDomain(Domain *theDomain)
{
// first set the node pointers
int Nd1 = connectedExternalNodes(0);
int Nd2 = connectedExternalNodes(1);
theNodes[0] = theDomain->getNode(Nd1);
theNodes[1] = theDomain->getNode(Nd2);
if (theNodes[0] == 0) {
opserr << "WARNING beam2d02::setDomain(): Nd1: ";
opserr << Nd1 << "does not exist in model for beam \n" << *this;
return;
}
if (theNodes[1] == 0) {
opserr << "WARNING beam2d02::setDomain(): Nd2: ";
opserr << Nd2 << "does not exist in model for beam\n" << *this;
return;
}
// now verify the number of dof at node ends
int dofNd1 = theNodes[0]->getNumberDOF();
int dofNd2 = theNodes[1]->getNumberDOF();
if (dofNd1 != 3 && dofNd2 != 3) {
opserr << "WARNING beam2d02::setDomain(): node " << Nd1;
opserr << " and/or node " << Nd2 << " have/has incorrect number ";
opserr << "of dof's at end for beam\n " << *this;
return;
}
// call the base class method
this->DomainComponent::setDomain(theDomain);
// determine length and direction cosines
double dx,dy;
const Vector &end1Crd = theNodes[0]->getCrds();
const Vector &end2Crd = theNodes[1]->getCrds();
dx = end2Crd(0)-end1Crd(0);
dy = end2Crd(1)-end1Crd(1);
L = sqrt(dx*dx + dy*dy);
if (L == 0.0) {
opserr << "WARNING beam2d02::setDomain(): beam " << this->getTag();
opserr << " has zero length for beam\n" << *this;
return;
}
Kd(0,0) = E*A/L;
Kd(0,1) = 0.0;
Kd(0,2) = 0.0;
Kd(1,0) = 0.0;
Kd(1,1) = 4.0*E*I/L;
Kd(1,2) = 2.0*E*I/L;
Kd(2,0) = 0.0;
Kd(2,1) = 2.0*E*I/L;
Kd(2,2) = 4.0*E*I/L;
cs = dx/L;
sn = dy/L;
// set the mass variable equal to 1/2 tha mass of the beam = 0.5 * rho*A*L
M = 0.5*M*A*L;
}
Localizer::Localizer(exchangeData *_commData, const unsigned int _period) :
RateThread(_period), commData(_commData), period(_period)
{
iCubHeadCenter eyeC(commData->head_version>1.0?"right_v2":"right");
eyeL=new iCubEye(commData->head_version>1.0?"left_v2":"left");
eyeR=new iCubEye(commData->head_version>1.0?"right_v2":"right");
// remove constraints on the links
// we use the chains for logging purpose
eyeL->setAllConstraints(false);
eyeR->setAllConstraints(false);
// release links
eyeL->releaseLink(0); eyeC.releaseLink(0); eyeR->releaseLink(0);
eyeL->releaseLink(1); eyeC.releaseLink(1); eyeR->releaseLink(1);
eyeL->releaseLink(2); eyeC.releaseLink(2); eyeR->releaseLink(2);
// add aligning matrices read from configuration file
getAlignHN(commData->rf_cameras,"ALIGN_KIN_LEFT",eyeL->asChain(),true);
getAlignHN(commData->rf_cameras,"ALIGN_KIN_RIGHT",eyeR->asChain(),true);
// overwrite aligning matrices iff specified through tweak values
if (commData->tweakOverwrite)
{
getAlignHN(commData->rf_tweak,"ALIGN_KIN_LEFT",eyeL->asChain(),true);
getAlignHN(commData->rf_tweak,"ALIGN_KIN_RIGHT",eyeR->asChain(),true);
}
// get the absolute reference frame of the head
Vector q(eyeC.getDOF(),0.0);
eyeCAbsFrame=eyeC.getH(q);
// ... and its inverse
invEyeCAbsFrame=SE3inv(eyeCAbsFrame);
// get the length of the half of the eyes baseline
eyesHalfBaseline=0.5*norm(eyeL->EndEffPose().subVector(0,2)-eyeR->EndEffPose().subVector(0,2));
bool ret;
// get camera projection matrix
ret=getCamPrj(commData->rf_cameras,"CAMERA_CALIBRATION_LEFT",&PrjL,true);
if (commData->tweakOverwrite)
{
Matrix *Prj;
if (getCamPrj(commData->rf_tweak,"CAMERA_CALIBRATION_LEFT",&Prj,true))
{
delete PrjL;
PrjL=Prj;
}
}
if (ret)
{
cxl=(*PrjL)(0,2);
cyl=(*PrjL)(1,2);
invPrjL=new Matrix(pinv(PrjL->transposed()).transposed());
}
else
PrjL=invPrjL=NULL;
// get camera projection matrix
ret=getCamPrj(commData->rf_cameras,"CAMERA_CALIBRATION_RIGHT",&PrjR,true);
if (commData->tweakOverwrite)
{
Matrix *Prj;
if (getCamPrj(commData->rf_tweak,"CAMERA_CALIBRATION_RIGHT",&Prj,true))
{
delete PrjR;
PrjR=Prj;
}
}
if (ret)
{
cxr=(*PrjR)(0,2);
cyr=(*PrjR)(1,2);
invPrjR=new Matrix(pinv(PrjR->transposed()).transposed());
}
else
PrjR=invPrjR=NULL;
Vector Kp(1,0.001), Ki(1,0.001), Kd(1,0.0);
Vector Wp(1,1.0), Wi(1,1.0), Wd(1,1.0);
Vector N(1,10.0), Tt(1,1.0);
Matrix satLim(1,2);
satLim(0,0)=0.05;
satLim(0,1)=10.0;
pid=new parallelPID(0.05,Kp,Ki,Kd,Wp,Wi,Wd,N,Tt,satLim);
Vector z0(1,0.5);
pid->reset(z0);
dominantEye="left";
port_xd=NULL;
}
double TStringKernel::KDynamic(const TIntV& s, const TIntV& t, const TFltV& lc, const double& lb) {
const int k = lc.Len() + 1;
int x,y,i;
int ls = s.Len(), lt = t.Len();
//TVec<TFltVV> Kd(2);
//for (i = 0; i < 2; i++) Kd[i].Gen(ls+1, lt+1);
// s is on X-axis and t is on Y-axis
TVec<double *> Kd(2);
if ((ls+1)*(lt+1) > BufN) {
if (Buf1 != NULL) delete[] Buf1;
if (Buf2 != NULL) delete[] Buf2;
BufN = (ls+2)*(lt+2) + 10;
Buf1 = new double[BufN];
Buf2 = new double[BufN];
}
Kd[0] = Buf1; Kd[1] = Buf2;
double *Kdii, *Kdi; //ii == (i-1)%2, i == i%2
// initialize Kd for i == 0
int MxSize = (ls+1)*(lt+1) + 10;
for (i = 0, Kdi = Kd[0]; i < MxSize; i++) Kdi[i] = 1.0;
//for (x = 0; x <= ls; x++) {
// for (y = 0; y <= lt; y++) {
// Kd[0](x,y) = 1.0;
// }
//}
// calculate Kd for i == 1..k-1
double K = 0.0;
for (i = 1; i < k; i++) {
Kdi = Kd[i%2]; Kdii = Kd[(i-1)%2];
for (x = 0; x <= ls; x++) Kdi[x*(lt+1) + (i-1)] = 0.0;
for (y = 0; y <= lt; y++) Kdi[(i-1)*(lt+1) + y] = 0.0;
//for (x = 0; x <= ls; x++) Kd[i%2](x,i-1) = 0.0;
//for (y = 0; y <= lt; y++) Kd[i%2](i-1,y) = 0.0;
double Ki = 0.0;
for (x = i; x <= ls; x++) {
double Kdd = 0.0; int u = s[x-1];
for (y = i; y <= lt; y++) {
if (u == t[y-1]) {
Kdd = lb * (Kdd + lb*Kdii[(x-1)*(lt+1) + (y-1)]);
Ki += lb*lb * Kdi[(x-1)*(lt+1) + (y-1)];
//Kdd = lb * (Kdd + lb*Kd[(i-1)%2](x-1,y-1));
//Ki += lb*lb * Kd[i%2](x-1, y-1);
} else {
Kdd *= lb;
}
Kdi[x*(lt+1) + y] = lb*Kdi[(x-1)*(lt+1) + y] + Kdd;
//Kd[i%2](x,y) = lb*Kd[i%2](x-1, y) + Kdd;
}
}
K += lc[i-1] * Ki;
}
return K;
}
void createLambertian(BSDF* bsdf, MemoryArena& arena) {
Spectrum Kd(1);
bsdf->Add(ARENA_ALLOC(arena, LambertianReflection)(Kd));
}
//------------------------------------------------------------------------------------------------------------------------------------
// called when we want to draw the 3D data in our app.
//------------------------------------------------------------------------------------------------------------------------------------
void draw3D()
{
// draw the grid on the floor
setColour(0.25f, 0.25f, 0.25f);
for(float i = -10.0f; i <= 10.1f; i += 1.0f)
{
Vec3 zmin(i, 0, -10);
Vec3 zmax(i, 0, 10);
Vec3 xmin(-10, 0, i);
Vec3 xmax(10, 0, i);
drawLine(xmin, xmax);
drawLine(zmin, zmax);
}
// If using the GPU to compute the lighting (which is what you want to do!)
if(!g_manualLighting)
{
// turn on lighting
enableLighting();
// set the diffuse material colour (this will be modulated by the effect of the lighting)
setColour(1.0f, 1.0f, 1.0f);
// draw the cube geometry
drawPrimitives(g_pointsVN, 24, kQuads);
// turn off lighting
disableLighting();
}
else
{
// otherwise, compute the lighting manually. Don't ever do this in practice! It's insane! (But it may be useful for educational purposes)
// The direction from the vertex to the light (effectively sunlight in this case!).
Vec3 L(-0.6f, 1.0f, -0.2f);
// make sure L has been normalised!
L = normalize(L);
// start drawing some quads
begin(kQuads);
// loop through each vertex normal
for(int i = 0; i < 24; ++i)
{
// compute N.L
// Make sure we clamp this to zero (so that we ignore any negative values).
float N_dot_L = std::max(dot(L, g_pointsVN[i].n), 0.0f);
// the ambient material colour (always gets added to the final colour)
Vec3 Ka(0.2f, 0.2f, 0.2f);
// the diffuse material colour
Vec3 Kd(1.0f, 1.0f, 1.0f);
// Compute the final colour
Vec3 colour = Ka + (Kd * N_dot_L);
// set the vertex colour
setColour(colour);
// specify the vertex
addVertex(g_pointsVN[i].v);
}
// finish drawing our quads
end();
}
// if we are displaying normals
if(g_displayNormals)
{
// make colour pink
setColour(1.0f, 0.0f, 1.0f);
// loop through each vertex
for(int i = 0; i < 24; ++i)
{
// compute an offset (along the normal direction) from the vertex
Vec3 pn = g_pointsVN[i].v + (g_pointsVN[i].n * 0.2f);
// draw a line to show the normal
drawLine(g_pointsVN[i].v, pn);
}
}
}
