SPPMParameters::SPPMParameters(const ParamArray& params)
: m_dl_mode(get_mode(params, "dl_mode", SPPM))
, m_enable_ibl(params.get_optional<bool>("enable_ibl", true))
, m_enable_caustics(params.get_optional<bool>("enable_caustics", true))
, m_light_photon_count(params.get_optional<size_t>("light_photons_per_pass", 100000))
, m_env_photon_count(params.get_optional<size_t>("env_photons_per_pass", 100000))
, m_photon_packet_size(params.get_optional<size_t>("photon_packet_size", 100000))
, m_photon_tracing_max_path_length(nz(params.get_optional<size_t>("photon_tracing_max_path_length", 0)))
, m_photon_tracing_rr_min_path_length(nz(params.get_optional<size_t>("photon_tracing_rr_min_path_length", 3)))
, m_path_tracing_max_path_length(nz(params.get_optional<size_t>("path_tracing_max_path_length", 0)))
, m_path_tracing_rr_min_path_length(nz(params.get_optional<size_t>("path_tracing_rr_min_path_length", 3)))
, m_max_iterations(params.get_optional<size_t>("max_iterations", 1000))
, m_initial_radius_percents(params.get_required<float>("initial_radius", 0.1f))
, m_alpha(params.get_optional<float>("alpha", 0.7f))
, m_max_photons_per_estimate(params.get_optional<size_t>("max_photons_per_estimate", 100))
, m_dl_light_sample_count(params.get_optional<double>("dl_light_samples", 1.0))
, m_view_photons(params.get_optional<bool>("view_photons", false))
, m_view_photons_radius(params.get_optional<float>("view_photons_radius", 1.0e-3f))
{
// Precompute the reciprocal of the number of light samples.
m_rcp_dl_light_sample_count =
m_dl_light_sample_count > 0.0 && m_dl_light_sample_count < 1.0
? static_cast<float>(1.0 / m_dl_light_sample_count)
: 0.0f;
}
void SparseVector<T_Element,T_Alloc>::insert_element(element_type ele)
{
assert_space(1);
assert_is_sorted();
// Find the insertion point
if( nz() ) {
typedef SparseVectorUtilityPack::SpVecIndexLookup<T_Element> SpVecIndexLookup;
typedef typename SpVecIndexLookup::poss_type poss_type;
index_lookup_.validate_state();
poss_type poss
= ( nz()
? index_lookup_.find_poss(ele.index(), SpVecIndexLookup::LOWER_ELE)
: poss_type(0,SpVecIndexLookup::BEFORE_ELE)
);
// Make sure this element does not already exist!
#ifdef TEUCHOS_DEBUG
TEUCHOS_TEST_FOR_EXCEPTION(
nz() && poss.rel == SpVecIndexLookup::EQUAL_TO_ELE, std::length_error
,"SparseVector<...>::insert_element(...) : Error, this index"
" all ready exists!" );
#endif
const size_type
insert_poss = (poss.rel == SpVecIndexLookup::BEFORE_ELE ? poss.poss : poss.poss+1);
// Copy elements out of the way to make room for inserted element
std::copy_backward( // This assumes element_type supports assignment!
index_lookup_.ele() + insert_poss, index_lookup_.ele() + index_lookup_.nz()
, index_lookup_.ele() + index_lookup_.nz() + 1 );
index_lookup_.ele()[insert_poss] = ele;
index_lookup_.incr_nz();
}
else { // The first element we are adding!
index_lookup_.ele()[0] = ele;
index_lookup_.incr_nz();
}
}
static Rcpp::IntegerVector nz_vec(Rcpp::NumericMatrix alpha_new,
Rcpp::NumericMatrix eta_new,
Rcpp::NumericVector d_new,
double eps)
{
int K = alpha_new.ncol();
int p = alpha_new.nrow();
int L = eta_new.nrow();
Rcpp::IntegerVector result(p*K + L*K + L);
for (int i = 0; i < p*K; i++) {
result[i] = nz(alpha_new[i],eps);
}
for (int i = 0; i < L*K; i++) {
result[p*K + i] = nz(eta_new[i],eps);
}
for (int i = 0; i < L; i++) {
result[p*K + L*K + i] = nz(d_new[i],eps);
}
return result;
}
static void
ptransfer(const char *direction, long bytes,
const struct timeval *t0,
const struct timeval *t1)
{
struct timeval td;
#ifdef EMBED
/* Use all ints for embedded targets */
unsigned long s, bs;
if (ftpverbose) {
tvsub(&td, t1, t0);
s = (td.tv_sec * 1000) + (td.tv_usec / 1000);
#define nz(x) ((x) == 0 ? 1 : (x))
bs = bytes / nz(s);
printf("%ld bytes %s in %d secs (%d Kbytes/sec)\n",
bytes, direction, (s/1000), bs);
}
#else
float s, bs;
if (ftpverbose) {
tvsub(&td, t1, t0);
s = td.tv_sec + (td.tv_usec / 1000000.);
#define nz(x) ((x) == 0 ? 1 : (x))
bs = bytes / nz(s);
printf("%ld bytes %s in %.3g secs (%.2g Kbytes/sec)\n",
bytes, direction, s, bs / 1024.0);
}
#endif
}
void Bayes::sample_zpi() {
//! sample classification
// ublas::matrix<double> probx(k, n);
for (int i=0; i<k; ++i) {
row(probx, i).assign(pi(i) * mvnormpdf(x, mu(i), Omega(i)));
}
// print out likelihood
for (int i=0; i<n; ++i) {
double tmpsum = sum(column(probx, i));
if (tmpsum > 0) {
current += log(tmpsum);
}
}
if (loglik < current && current < 0) {
loglik = current;
ml_pi.assign(pi);
ml_mu.assign(mu);
ml_Omega.assign(Omega);
}
current = 0.0;
ublas::vector<int> nz(k);
for (int i=0; i<k; ++i)
nz(i) = 0;
for (int i=0; i<n; ++i) {
column(probx, i) /= sum(column(probx, i));
z(i) = rdisc(column(probx, i));
}
// calculate counts and complete data log likelihood
for (int i=0; i<k; ++i)
for (int j=0; j<n; ++j)
if (z[j] == i) {
nz(i) += 1;
}
pi = dirichlet_rnd(nz);
// get indices sorted in reverse order
std::vector<int> idx(argsort(pi));
std::reverse(idx.begin(), idx.end());
ublas::indirect_array<> u_idx(idx.size());
for (size_t i=0; i<idx.size(); ++i)
u_idx(i) = idx[i];
pi = project(pi, u_idx);
mu = project(mu, u_idx);
Omega = project(Omega, u_idx);
ublas::vector<int> oldz(z);
for (int i=0; i<k; ++i)
for (size_t j=0; j<oldz.size(); ++j)
if (i == oldz[j])
z[j] = idx[i];
}
int main(){
V3f x(0,0,1); V3f xr(rot_x(x, 0.87)); same("x rotation", x.dot(xr), cos(0.87));
V3f y(0,0,1); V3f yr(rot_y(y, 0.23)); same("y rotation", y.dot(yr), cos(0.23));
V3f z(1,0,0); V3f zr(rot_z(z, 0.19)); same("z rotation", z.dot(zr), cos(0.19));
V3f nx(3,2,5);
V3f ny(-2,3,4);
V3f nz(-4,4,3.8);
V3f nnx(3,2,5);
V3f nny(-2,3,4);
V3f nnz(-4,4,3.8);
ortoNormalize(nnx, nny, nnz);
same("x unit", nnx.length(), 1.0);
same("y unit", nny.length(), 1.0);
same("z unit", nnz.length(), 1.0);
V3f tmp; tmp.cross(nnx, nx);
same("x colinear", tmp.length(), 0.0);
tmp.cross(nnx, nny); tmp-=nnz; same("x orto", tmp.length(), 0);
tmp.cross(nny, nnz); tmp-=nnx; same("y orto", tmp.length(), 0);
tmp.cross(nnz, nnx); tmp-=nny; same("z orto", tmp.length(), 0);
};
GLuint FileAssociatedTexture::getOrCreateCube(
const QString & fileNames
, OpenGLFunctions & gl
, const GLenum mag_filter
, const GLenum min_filter)
{
if (s_texturesByFilePath.contains(fileNames))
return s_texturesByFilePath[fileNames];
QString px(fileNames); px.replace("?", "px");
QString nx(fileNames); nx.replace("?", "nx");
QString py(fileNames); py.replace("?", "py");
QString ny(fileNames); ny.replace("?", "ny");
QString pz(fileNames); pz.replace("?", "pz");
QString nz(fileNames); nz.replace("?", "nz");
QStringList files = QStringList() << px << nx << py << ny << pz << nz;
QStringList absolutes;
foreach(const QString & file, files)
{
QFileInfo fi(file);
if (!fi.exists())
{
qWarning() << file << " does not exist: texture has no associated file.";
return -1;
}
absolutes << fi.absoluteFilePath();
}
int collide(int *a, int *b)
{
// sanity checking
if (a == 000 || b == 000)
return -1; // bad args
if (b[0] < 1)
return -2; // x at 0
if (b[1] < 1)
return -3; // y at 0
if (b[2] < 1)
return -4; // z at 0
if (b[0] > xres)
return -5; // x at max
if (b[0] > yres)
return -6; // y at max
if (b[0] > zres)
return -7; // z at max
int vec[3] = {(b[0]-a[0]), (b[1]-a[1]), (b[2]-a[2])}; // vector
int result = 0;
/* below is a fairly basic algo to keep checking until there is no conflict
* may be optimizable
*/
do
{
result = 0;
if (vec[0] > 0)
{
result += px(&b[0]);
}
if (vec[1] > 0)
{
result += py(&b[1]);
}
if (vec[2] > 0)
{
result += pz(&b[2]);
}
if (vec[0] < 0)
{
result += nx(&b[0]);
}
if (vec[1] < 0)
{
result += ny(&b[1]);
}
if (vec[2] < 0)
{
result += nz(&b[2]);
}
vec[0] = (b[0]-a[0]);
vec[1] = (b[1]-a[1]);
vec[2] = (b[2]-a[2]); // recalc. should eliminate unnecessary checks
}
while (result != 0);
return 0;
}
static int df(Rcpp::NumericMatrix beta_new, double eps)
{
int result = 0;
int n = beta_new.nrow() * beta_new.ncol();
for(int i=0; i < n; i++){
result += nz(beta_new[i],eps);
}
return result;
}
//---------------------------------------------------------
void NDG3D::Normals3D()
//---------------------------------------------------------
{
// function [nx, ny, nz, sJ] = Normals3D()
// Purpose : Compute outward pointing normals at
// elements faces as well as surface Jacobians
GeometricFactors3D();
// interpolate geometric factors to face nodes
DMat frx=rx(Fmask,All), fsx=sx(Fmask,All), ftx=tx(Fmask,All);
DMat fry=ry(Fmask,All), fsy=sy(Fmask,All), fty=ty(Fmask,All);
DMat frz=rz(Fmask,All), fsz=sz(Fmask,All), ftz=tz(Fmask,All);
// build normals
nx.resize(4*Nfp, K); ny.resize(4*Nfp, K); nz.resize(4*Nfp, K);
Index1D fid1(1,Nfp), fid2(Nfp+1,2*Nfp), fid3(2*Nfp+1,3*Nfp), fid4(3*Nfp+1,4*Nfp);
// face 1
nx(fid1, All) = -ftx(fid1,All);
ny(fid1, All) = -fty(fid1,All);
nz(fid1, All) = -ftz(fid1,All);
// face 2
nx(fid2, All) = -fsx(fid2,All);
ny(fid2, All) = -fsy(fid2,All);
nz(fid2, All) = -fsz(fid2,All);
// face 3
nx(fid3, All) = frx(fid3,All) + fsx(fid3,All) + ftx(fid3,All);
ny(fid3, All) = fry(fid3,All) + fsy(fid3,All) + fty(fid3,All);
nz(fid3, All) = frz(fid3,All) + fsz(fid3,All) + ftz(fid3,All);
// face 4
nx(fid4, All) = -frx(fid4,All);
ny(fid4, All) = -fry(fid4,All);
nz(fid4, All) = -frz(fid4,All);
// normalise
sJ = sqrt(sqr(nx) + sqr(ny) + sqr(nz));
nx.div_element(sJ); ny.div_element(sJ); nz.div_element(sJ);
sJ.mult_element(J(Fmask, All)); //sJ=sJ.*J(Fmask(:),:);
}
static Rcpp::IntegerVector nz(Rcpp::NumericVector v, double eps)
{
int n = v.size();
Rcpp::IntegerVector result(n);
for(int i=0; i < n; i++){
result[i] = nz(v[i],eps);
}
return result;
}
static Rcpp::IntegerMatrix nz(Rcpp::NumericMatrix m, double eps)
{
int nr = m.nrow();
int nc = m.ncol();
Rcpp::IntegerMatrix result(nr, nc);
for(int i=0; i < nr*nc; i++){
result[i] = nz(m[i],eps);
}
return result;
}
AbstractLinAlgPack::size_type
AbstractLinAlgPack::SparseVectorUtilityPack::SpVecIndexLookup<T_Element>::find_element(
index_type index, bool is_sorted ) const
{
typedef T_Element* itr_t;
if(is_sorted) {
const std::pair<itr_t,itr_t> p = std::equal_range( ele(), ele() + nz()
, index - offset(), compare_element_indexes_less<element_type>() );
// If p.second - p.first == 1 then the element exits
if( p.second - p.first == 1 )
return p.first - ele(); // zero based
else
return nz(); // zero based
}
else {
const itr_t itr = std::find_if( ele(), ele() + nz()
, compare_element_indexes_equal_to<element_type>(index - offset()) );
return itr - ele(); // zero based
}
}
Matrixf3& Matrixf3::operator *= (const Matrixf3& m)
{
Pointf3 nx(x ^ m.CX(), x ^ m.CY(), x ^ m.CZ());
Pointf3 ny(y ^ m.CX(), y ^ m.CY(), y ^ m.CZ());
Pointf3 nz(z ^ m.CX(), z ^ m.CY(), z ^ m.CZ());
x = nx;
y = ny;
z = nz;
a *= m;
return *this;
}
void
mb(uint64 bytes)
{
struct timeval td;
double s, bs;
tvsub(&td, &stop_tv, &start_tv);
s = td.tv_sec + td.tv_usec / 1000000.0;
bs = bytes / nz(s);
if (!ftiming) ftiming = stderr;
(void) fprintf(ftiming, "%.2f MB/sec\n", bs / MB);
}
void Mesh::makeSurfaceMesh()
{ // Hill, F.S. Jr., "Computer Graphics using OpenGL", 2nd edition, 2002, p.355,
// Case Study 6.13, Drawing smooth parametric surfaces.
int i, j;
double pi = 3.141592653589793 ;
int numValsU = 40;
int numValsV = 40; // set these
/*double u, v, uMin = -pi;
double vMin = -pi;
double uMax = pi;
double vMax = pi;*/
double u, v, uMin = -pi/4;
double vMin = -pi/4;
double uMax = pi/4;
double vMax = pi/4;
double delU = (uMax - uMin)/(numValsU - 1);
double delV = (vMax - vMin)/(numValsV - 1);
numVerts = numValsU * numValsV + 1; // total # of vertices
numFaces = (numValsU -1) * (numValsV - 1) ; // # of faces
numNormals = numVerts; // for smooth shading - one normal per vertex
pt = new Point3[numVerts]; // make space
face = new Face[numFaces];
norm = new Vector3[numNormals];
for(i = 0, u = uMin; i < numValsU; i++, u += delU)
for(j = 0, v = vMin; j < numValsV; j++, v += delV)
{
int whichVert = i * numValsV + j; //index of the vertex and normal
// set this vertex: use functions X, Y, and Z
pt[whichVert].set(X(u, v),Y(u, v),Z(u, v));
// set the normal at this vertex: use functions nx, ny, nz
norm[whichVert].set(nx(u, v), ny(u, v), nz(u, v));
norm[whichVert].normalize();
// make quadrilateral
if(i > 0 && j > 0) // when to compute next face
{
int whichFace =(i - 1) * (numValsV - 1) + (j - 1);
face[whichFace].vert = new VertexID[4];
//assert(face[whichFace].vert != NULL);
face[whichFace].nVerts = 4;
face[whichFace].vert[0].vertIndex = // same as norm index
face[whichFace].vert[0].normIndex = whichVert;
face[whichFace].vert[1].vertIndex =
face[whichFace].vert[1].normIndex = whichVert - 1;
face[whichFace].vert[2].vertIndex =
face[whichFace].vert[2].normIndex = whichVert - numValsV - 1;
face[whichFace].vert[3].vertIndex =
face[whichFace].vert[3].normIndex = whichVert - numValsV;
}
}
}
void
mb(uint64 bytes)
{
struct timeval td;
double s, bs;
tvsub(&td, &stop_tv, &start_tv);
s = td.tv_sec + td.tv_usec / 1000000.0;
bs = bytes / nz(s);
if (s == 0.0) return;
if (!ftiming) ftiming = stderr;
(void) fprintf(ftiming, "<measurement units=\"MB/sec\">%.2f</measurement>\n", bs / MB);
}
static void
ptransfer(const char *direction, long bytes,
const struct timeval *t0,
const struct timeval *t1)
{
struct timeval td;
float s, bs;
if (verbose) {
tvsub(&td, t1, t0);
s = td.tv_sec + (td.tv_usec / 1000000.);
#define nz(x) ((x) == 0 ? 1 : (x))
bs = bytes / nz(s);
printf("%ld bytes %s in %.3g secs (%.2g Kbytes/sec)\n",
bytes, direction, s, bs / 1024.0);
}
}
SparseVector<T_Element,T_Alloc>&
SparseVector<T_Element,T_Alloc>::operator=(
const SparseVector<T_Element,T_Alloc>& sp_vec)
{
if(this == &sp_vec) return *this; // assignment to self
know_is_sorted_ = sp_vec.know_is_sorted_;
assume_sorted_ = sp_vec.assume_sorted_;
if( max_nz() < sp_vec.nz() ) {
// need to allocate more storage
resize(0,0); // free current storage
resize(sp_vec.dim(),sp_vec.nz(),sp_vec.offset());
}
else if( nz() ) {
// Don't allocate new memory, just call distructors on current elements
// and reset to uninitialized.
for(iterator ele_itr = begin(); ele_itr != end();) {
#ifdef _PG_CXX
(ele_itr++)->~element_type();
#else
alloc_.destroy(ele_itr++);
#endif
}
// Set the other data
size_ = sp_vec.size_;
}
// set nz and offset
index_lookup_.set_sp_vec(index_lookup_.ele(),sp_vec.nz(),sp_vec.offset());
if( sp_vec.nz() ) {
// Perform an uninitialized copy of the elements
iterator ele_to_itr = index_lookup_.ele();
const_iterator ele_from_itr = sp_vec.begin();
while(ele_from_itr != sp_vec.end()) {
#ifdef _PG_CXX
new (ele_to_itr++) element_type(*ele_from_itr++);
#else
alloc_.construct(ele_to_itr++,*ele_from_itr++);
#endif
}
}
return *this;
}
static Rcpp::NumericMatrix refit_model(Rcpp::NumericMatrix X,
Rcpp::NumericVector y,
Rcpp::NumericMatrix beta_new,
Rcpp::IntegerVector nk,
int model,
double eps,
int maxiter)
{
int K = nk.size();
int p = X.ncol();
int n;
Rcpp::NumericMatrix Xtmp(X.nrow(),p);
Rcpp::NumericMatrix beta_refit(p,K);
Rcpp::NumericVector lasso_result;
int idx = 0;
for (int k = 0; k < K; k++) {
n = nk[k];
for (int i = 0; i < n; i++) {
for (int j = 0; j < p; j++) {
Xtmp(idx+i,j) = X(idx+i,j) * nz(beta_new(j,k),eps);
}
}
idx += n;
}
idx = 0;
for (int k = 0; k < K; k++) {
n = nk[k];
lasso_result = lasso(Xtmp(Rcpp::Range(idx,idx+n-1),Rcpp::_), y[Rcpp::Range(idx,idx+n-1)], 0.0, model, false, eps, maxiter);
for(int j = 0; j < p; j++){
beta_refit(j,k) = lasso_result[j];
}
idx += n;
}
return beta_refit;
}
bool
Sol_MultigridPressure3DBase::initialize_base_storage(int nx_val, int ny_val, int nz_val, double hx_val, double hy_val, double hz_val)
{
// pre-validate
if (!check_float(hx_val) || !check_float(hy_val) || !check_float(hz_val)) {
printf("[ERROR] Sol_MultigridPressure3DBase::initialize_storage - garbage hx,hy,hz value %f %f %f\n", hx_val, hy_val, hz_val);
return false;
}
// do allocation and initialization
_num_levels = num_levels(nx_val, ny_val, nz_val);
_h = new double[_num_levels];
_dim = new int3[_num_levels];
_h[0] = min3(hx_val, hy_val, hz_val);
_fx = (_h[0] * _h[0]) / (hx_val * hx_val);
_fy = (_h[0] * _h[0]) / (hy_val * hy_val);
_fz = (_h[0] * _h[0]) / (hz_val * hz_val);
_omega = optimal_omega(_fx, _fy, _fz);
_dim[0].x = nx_val;
_dim[0].y = ny_val;
_dim[0].z = nz_val;
int level;
for (level=1; level < _num_levels; level++) {
int this_nx = nx(level-1)/2;
int this_ny = ny(level-1)/2;
int this_nz = nz(level-1)/2;
_h[level] = get_h(level-1)*2;
_dim[level].x = this_nx;
_dim[level].y = this_ny;
_dim[level].z = this_nz;
}
return true;
}
ngl::Mat4 Bvh::getRotationFromZ(ngl::Vec3 _vec) const
{
ngl::Mat4 rotM;
float x, y, z;
// rotate negative z axis to _vec direction
_vec.normalize();
ngl::Vec3 nz(0,0,-1);
float angle = acos(_vec.dot(nz));
ngl::Vec3 norm = _vec.cross(nz);
if(norm.length()<= 0.0001)
{
x= z = 0.0;
y = 1.0;
}
else
{
norm.normalize();
x = norm.m_x;
y = norm.m_y;
z = norm.m_z;
}
// Axis and Angle matrix rotation see
// http://en.wikipedia.org/wiki/Rotation_matrix for more details
float c = cos(angle);
float s = sin(angle);
float C=1-c;
float xs = x*s; float ys = y*s; float zs = z*s;
float xC = x*C; float yC = y*C; float zC = z*C;
float xyC = x*yC; float yzC = y*zC; float zxC = z*xC;
rotM.m_m[0][0]=x*xC+c; rotM.m_m[0][1]= xyC-zs; rotM.m_m[0][2]= zxC+ys;
rotM.m_m[1][0]=xyC+zs; rotM.m_m[1][1]=y*yC+c; rotM.m_m[1][2]= yzC-xs;
rotM.m_m[2][0]=zxC-ys; rotM.m_m[2][1]=yzC+xs; rotM.m_m[2][2]=z*zC+c;
return rotM;
}
sparse<T> sparse<T>::transpose() const
{
sparse<T> b(symbolic::sparse::transpose());
dense_vector<size_t> nz(nrow, 0u);
for (size_t j = 0; j < b.ncol; ++j)
{
nz[j] = b.pc[j];
}
for (size_t j = 0; j < ncol; ++j)
{
for (size_t i = pc[j]; i < pc[j + 1]; ++i)
{
size_t k = ir[i];
b.x[nz[k]] = x[i];
++nz[k];
}
}
return b;
}
osg::Node* createCube(unsigned int mask)
{
osg::Geode* geode = new osg::Geode;
osg::Geometry* geometry = new osg::Geometry;
geode->addDrawable(geometry);
osg::Vec3Array* vertices = new osg::Vec3Array;
geometry->setVertexArray(vertices);
osg::Vec3Array* normals = new osg::Vec3Array;
geometry->setNormalArray(normals, osg::Array::BIND_PER_VERTEX);
osg::Vec4Array* colours = new osg::Vec4Array;
geometry->setColorArray(colours, osg::Array::BIND_OVERALL);
colours->push_back(osg::Vec4(1.0f,1.0f,1.0f,1.0f));
osg::Vec3 origin(0.0f,0.0f,0.0f);
osg::Vec3 dx(2.0f,0.0f,0.0f);
osg::Vec3 dy(0.0f,1.0f,0.0f);
osg::Vec3 dz(0.0f,0.0f,1.0f);
osg::Vec3 px(1.0f,0.0,0.0f);
osg::Vec3 nx(-1.0f,0.0,0.0f);
osg::Vec3 py(0.0f,1.0f,0.0f);
osg::Vec3 ny(0.0f,-1.0f,0.0f);
osg::Vec3 pz(0.0f,0.0f,1.0f);
osg::Vec3 nz(0.0f,0.0f,-1.0f);
if (mask & FRONT_FACE)
{
// front face
vertices->push_back(origin);
vertices->push_back(origin+dx);
vertices->push_back(origin+dx+dz);
vertices->push_back(origin+dz);
normals->push_back(ny);
normals->push_back(ny);
normals->push_back(ny);
normals->push_back(ny);
}
if (mask & BACK_FACE)
{
// back face
vertices->push_back(origin+dy);
vertices->push_back(origin+dy+dz);
vertices->push_back(origin+dy+dx+dz);
vertices->push_back(origin+dy+dx);
normals->push_back(py);
normals->push_back(py);
normals->push_back(py);
normals->push_back(py);
}
if (mask & LEFT_FACE)
{
// left face
vertices->push_back(origin+dy);
vertices->push_back(origin);
vertices->push_back(origin+dz);
vertices->push_back(origin+dy+dz);
normals->push_back(nx);
normals->push_back(nx);
normals->push_back(nx);
normals->push_back(nx);
}
if (mask & RIGHT_FACE)
{
// right face
vertices->push_back(origin+dx+dy);
vertices->push_back(origin+dx+dy+dz);
vertices->push_back(origin+dx+dz);
vertices->push_back(origin+dx);
normals->push_back(px);
normals->push_back(px);
normals->push_back(px);
normals->push_back(px);
}
if (mask & TOP_FACE)
{
// top face
vertices->push_back(origin+dz);
vertices->push_back(origin+dz+dx);
vertices->push_back(origin+dz+dx+dy);
vertices->push_back(origin+dz+dy);
normals->push_back(pz);
normals->push_back(pz);
normals->push_back(pz);
normals->push_back(pz);
}
if (mask & BOTTOM_FACE)
{
// bottom face
vertices->push_back(origin);
vertices->push_back(origin+dy);
vertices->push_back(origin+dx+dy);
vertices->push_back(origin+dx);
normals->push_back(nz);
normals->push_back(nz);
normals->push_back(nz);
normals->push_back(nz);
}
geometry->addPrimitiveSet(new osg::DrawArrays(GL_QUADS, 0, vertices->size()));
return geode;
}
int main(int argc, char** argv) {
const double PI(3.141592653589793);
if (argc != 4) {
std::cout << "usage:" << std::endl;
std::cout << "package_scene path_scene output" << std::endl;
return 0;
}
ros::init(argc, argv, "dart_test");
ros::NodeHandle nh_;
std::string package_name( argv[1] );
std::string scene_urdf( argv[2] );
ros::Rate loop_rate(400);
ros::Publisher joint_state_pub_;
joint_state_pub_ = nh_.advertise<sensor_msgs::JointState>("/joint_states", 10);
tf::TransformBroadcaster br;
MarkerPublisher markers_pub(nh_);
std::string package_path_barrett = ros::package::getPath("barrett_hand_defs");
std::string package_path = ros::package::getPath(package_name);
// Load the Skeleton from a file
dart::utils::DartLoader loader;
loader.addPackageDirectory("barrett_hand_defs", package_path_barrett);
loader.addPackageDirectory("barrett_hand_sim_dart", package_path);
boost::shared_ptr<GraspSpecification > gspec = GraspSpecification::readFromUrdf(package_path + scene_urdf);
dart::dynamics::SkeletonPtr scene( loader.parseSkeleton(package_path + scene_urdf) );
scene->enableSelfCollision(true);
dart::dynamics::SkeletonPtr bh( loader.parseSkeleton(package_path_barrett + "/robots/barrett_hand.urdf") );
Eigen::Isometry3d tf;
tf = scene->getBodyNode("gripper_mount_link")->getRelativeTransform();
bh->getJoint(0)->setTransformFromParentBodyNode(tf);
dart::simulation::World* world = new dart::simulation::World();
world->addSkeleton(scene);
world->addSkeleton(bh);
Eigen::Vector3d grav(0,0,-1);
world->setGravity(grav);
GripperController gc;
double Kc = 400.0;
double KcDivTi = Kc / 1.0;
gc.addJoint("right_HandFingerOneKnuckleOneJoint", Kc, KcDivTi, 0.0, 0.001, 50.0, true, false);
gc.addJoint("right_HandFingerOneKnuckleTwoJoint", Kc, KcDivTi, 0.0, 0.001, 50.0, false, true);
gc.addJoint("right_HandFingerTwoKnuckleTwoJoint", Kc, KcDivTi, 0.0, 0.001, 50.0, false, true);
gc.addJoint("right_HandFingerThreeKnuckleTwoJoint", Kc, KcDivTi, 0.0, 0.001, 50.0, false, true);
gc.addJointMimic("right_HandFingerTwoKnuckleOneJoint", 2.0*Kc, KcDivTi, 0.0, 0.001, 50.0, true, "right_HandFingerOneKnuckleOneJoint", 1.0, 0.0);
gc.addJointMimic("right_HandFingerOneKnuckleThreeJoint", 2.0*Kc, KcDivTi, 0.0, 0.001, 50.0, false, "right_HandFingerOneKnuckleTwoJoint", 0.333333, 0.0);
gc.addJointMimic("right_HandFingerTwoKnuckleThreeJoint", 2.0*Kc, KcDivTi, 0.0, 0.001, 50.0, false, "right_HandFingerTwoKnuckleTwoJoint", 0.333333, 0.0);
gc.addJointMimic("right_HandFingerThreeKnuckleThreeJoint", 2.0*Kc, KcDivTi, 0.0, 0.001, 50.0, false, "right_HandFingerThreeKnuckleTwoJoint", 0.333333, 0.0);
gc.setGoalPosition("right_HandFingerOneKnuckleOneJoint", gspec->getGoalPosition("right_HandFingerOneKnuckleOneJoint"));
gc.setGoalPosition("right_HandFingerOneKnuckleTwoJoint", gspec->getGoalPosition("right_HandFingerOneKnuckleTwoJoint"));
gc.setGoalPosition("right_HandFingerTwoKnuckleTwoJoint", gspec->getGoalPosition("right_HandFingerTwoKnuckleTwoJoint"));
gc.setGoalPosition("right_HandFingerThreeKnuckleTwoJoint", gspec->getGoalPosition("right_HandFingerThreeKnuckleTwoJoint"));
std::map<std::string, double> joint_q_map;
joint_q_map["right_HandFingerOneKnuckleOneJoint"] = gspec->getInitPosition("right_HandFingerOneKnuckleOneJoint");
joint_q_map["right_HandFingerTwoKnuckleOneJoint"] = gspec->getInitPosition("right_HandFingerOneKnuckleOneJoint");
joint_q_map["right_HandFingerOneKnuckleTwoJoint"] = gspec->getInitPosition("right_HandFingerOneKnuckleTwoJoint");
joint_q_map["right_HandFingerOneKnuckleThreeJoint"] = 0.333333 * gspec->getInitPosition("right_HandFingerOneKnuckleTwoJoint");
joint_q_map["right_HandFingerTwoKnuckleTwoJoint"] = gspec->getInitPosition("right_HandFingerTwoKnuckleTwoJoint");
joint_q_map["right_HandFingerTwoKnuckleThreeJoint"] = 0.333333 * gspec->getInitPosition("right_HandFingerTwoKnuckleTwoJoint");
joint_q_map["right_HandFingerThreeKnuckleTwoJoint"] = gspec->getInitPosition("right_HandFingerThreeKnuckleTwoJoint");
joint_q_map["right_HandFingerThreeKnuckleThreeJoint"] = 0.333333 * gspec->getInitPosition("right_HandFingerThreeKnuckleTwoJoint");
for (std::vector<std::string >::const_iterator it = gc.getJointNames().begin(); it != gc.getJointNames().end(); it++) {
dart::dynamics::Joint *j = bh->getJoint((*it));
j->setActuatorType(dart::dynamics::Joint::FORCE);
j->setPositionLimited(true);
j->setPosition(0, joint_q_map[(*it)]);
}
int counter = 0;
while (ros::ok()) {
world->step(false);
for (std::map<std::string, double>::iterator it = joint_q_map.begin(); it != joint_q_map.end(); it++) {
dart::dynamics::Joint *j = bh->getJoint(it->first);
it->second = j->getPosition(0);
}
gc.controlStep(joint_q_map);
// Compute the joint forces needed to compensate for Coriolis forces and
// gravity
const Eigen::VectorXd& Cg = bh->getCoriolisAndGravityForces();
for (std::map<std::string, double>::iterator it = joint_q_map.begin(); it != joint_q_map.end(); it++) {
dart::dynamics::Joint *j = bh->getJoint(it->first);
int qidx = j->getIndexInSkeleton(0);
double u = gc.getControl(it->first);
double dq = j->getVelocity(0);
if (!gc.isBackdrivable(it->first)) {
j->setPositionLowerLimit(0, std::max(j->getPositionLowerLimit(0), it->second-0.01));
}
if (gc.isStopped(it->first)) {
j->setPositionLowerLimit(0, std::max(j->getPositionLowerLimit(0), it->second-0.01));
j->setPositionUpperLimit(0, std::min(j->getPositionUpperLimit(0), it->second+0.01));
// std::cout << it->first << " " << "stopped" << std::endl;
}
j->setForce(0, 0.02*(u-dq) + Cg(qidx));
}
for (int bidx = 0; bidx < bh->getNumBodyNodes(); bidx++) {
dart::dynamics::BodyNode *b = bh->getBodyNode(bidx);
const Eigen::Isometry3d &tf = b->getTransform();
KDL::Frame T_W_L;
EigenTfToKDL(tf, T_W_L);
// std::cout << b->getName() << std::endl;
publishTransform(br, T_W_L, b->getName(), "world");
}
int m_id = 0;
for (int bidx = 0; bidx < scene->getNumBodyNodes(); bidx++) {
dart::dynamics::BodyNode *b = scene->getBodyNode(bidx);
const Eigen::Isometry3d &tf = b->getTransform();
KDL::Frame T_W_L;
EigenTfToKDL(tf, T_W_L);
publishTransform(br, T_W_L, b->getName(), "world");
for (int cidx = 0; cidx < b->getNumCollisionShapes(); cidx++) {
dart::dynamics::ConstShapePtr sh = b->getCollisionShape(cidx);
if (sh->getShapeType() == dart::dynamics::Shape::MESH) {
std::shared_ptr<const dart::dynamics::MeshShape > msh = std::static_pointer_cast<const dart::dynamics::MeshShape >(sh);
m_id = markers_pub.addMeshMarker(m_id, KDL::Vector(), 0, 1, 0, 1, 1, 1, 1, msh->getMeshUri(), b->getName());
}
}
}
markers_pub.publish();
ros::spinOnce();
loop_rate.sleep();
counter++;
if (counter < 3000) {
}
else if (counter == 3000) {
dart::dynamics::Joint::Properties prop = bh->getJoint(0)->getJointProperties();
dart::dynamics::FreeJoint::Properties prop_free;
prop_free.mName = prop_free.mName;
prop_free.mT_ParentBodyToJoint = prop.mT_ParentBodyToJoint;
prop_free.mT_ChildBodyToJoint = prop.mT_ChildBodyToJoint;
prop_free.mIsPositionLimited = false;
prop_free.mActuatorType = dart::dynamics::Joint::VELOCITY;
bh->getRootBodyNode()->changeParentJointType<dart::dynamics::FreeJoint >(prop_free);
}
else if (counter < 4000) {
bh->getDof("Joint_pos_z")->setVelocity(-0.1);
}
else {
break;
}
}
//
// generate models
//
const std::string ob_name( "graspable" );
scene->getBodyNode(ob_name)->setFrictionCoeff(0.001);
// calculate point clouds for all links and for the grasped object
std::map<std::string, pcl::PointCloud<pcl::PointNormal>::Ptr > point_clouds_map;
std::map<std::string, pcl::PointCloud<pcl::PrincipalCurvatures>::Ptr > point_pc_clouds_map;
std::map<std::string, KDL::Frame > frames_map;
std::map<std::string, boost::shared_ptr<std::vector<KDL::Frame > > > features_map;
std::map<std::string, boost::shared_ptr<pcl::VoxelGrid<pcl::PointNormal> > > grids_map;
for (int skidx = 0; skidx < world->getNumSkeletons(); skidx++) {
dart::dynamics::SkeletonPtr sk = world->getSkeleton(skidx);
for (int bidx = 0; bidx < sk->getNumBodyNodes(); bidx++) {
dart::dynamics::BodyNode *b = sk->getBodyNode(bidx);
const Eigen::Isometry3d &tf = b->getTransform();
const std::string &body_name = b->getName();
if (body_name.find("right_Hand") != 0 && body_name != ob_name) {
continue;
}
KDL::Frame T_W_L;
EigenTfToKDL(tf, T_W_L);
std::cout << body_name << " " << b->getNumCollisionShapes() << std::endl;
for (int cidx = 0; cidx < b->getNumCollisionShapes(); cidx++) {
dart::dynamics::ConstShapePtr sh = b->getCollisionShape(cidx);
if (sh->getShapeType() == dart::dynamics::Shape::MESH) {
std::shared_ptr<const dart::dynamics::MeshShape > msh = std::static_pointer_cast<const dart::dynamics::MeshShape >(sh);
std::cout << "mesh path: " << msh->getMeshPath() << std::endl;
std::cout << "mesh uri: " << msh->getMeshUri() << std::endl;
const Eigen::Isometry3d &tf = sh->getLocalTransform();
KDL::Frame T_L_S;
EigenTfToKDL(tf, T_L_S);
KDL::Frame T_S_L = T_L_S.Inverse();
const aiScene *sc = msh->getMesh();
if (sc->mNumMeshes != 1) {
std::cout << "ERROR: sc->mNumMeshes = " << sc->mNumMeshes << std::endl;
}
int midx = 0;
// std::cout << "v: " << sc->mMeshes[midx]->mNumVertices << " f: " << sc->mMeshes[midx]->mNumFaces << std::endl;
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_1 (new pcl::PointCloud<pcl::PointNormal>);
uniform_sampling(sc->mMeshes[midx], 1000000, *cloud_1);
for (int pidx = 0; pidx < cloud_1->points.size(); pidx++) {
KDL::Vector pt_L = T_L_S * KDL::Vector(cloud_1->points[pidx].x, cloud_1->points[pidx].y, cloud_1->points[pidx].z);
cloud_1->points[pidx].x = pt_L.x();
cloud_1->points[pidx].y = pt_L.y();
cloud_1->points[pidx].z = pt_L.z();
}
// Voxelgrid
boost::shared_ptr<pcl::VoxelGrid<pcl::PointNormal> > grid_(new pcl::VoxelGrid<pcl::PointNormal>);
pcl::PointCloud<pcl::PointNormal>::Ptr res(new pcl::PointCloud<pcl::PointNormal>);
grid_->setDownsampleAllData(true);
grid_->setSaveLeafLayout(true);
grid_->setInputCloud(cloud_1);
grid_->setLeafSize(0.004, 0.004, 0.004);
grid_->filter (*res);
point_clouds_map[body_name] = res;
frames_map[body_name] = T_W_L;
grids_map[body_name] = grid_;
std::cout << "res->points.size(): " << res->points.size() << std::endl;
pcl::search::KdTree<pcl::PointNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointNormal>);
// Setup the principal curvatures computation
pcl::PrincipalCurvaturesEstimation<pcl::PointNormal, pcl::PointNormal, pcl::PrincipalCurvatures> principalCurvaturesEstimation;
// Provide the original point cloud (without normals)
principalCurvaturesEstimation.setInputCloud (res);
// Provide the point cloud with normals
principalCurvaturesEstimation.setInputNormals(res);
// Use the same KdTree from the normal estimation
principalCurvaturesEstimation.setSearchMethod (tree);
principalCurvaturesEstimation.setRadiusSearch(0.02);
// Actually compute the principal curvatures
pcl::PointCloud<pcl::PrincipalCurvatures>::Ptr principalCurvatures (new pcl::PointCloud<pcl::PrincipalCurvatures> ());
principalCurvaturesEstimation.compute (*principalCurvatures);
point_pc_clouds_map[body_name] = principalCurvatures;
features_map[body_name].reset( new std::vector<KDL::Frame >(res->points.size()) );
for (int pidx = 0; pidx < res->points.size(); pidx++) {
KDL::Vector nx, ny, nz(res->points[pidx].normal[0], res->points[pidx].normal[1], res->points[pidx].normal[2]);
if ( std::fabs( principalCurvatures->points[pidx].pc1 - principalCurvatures->points[pidx].pc2 ) > 0.001) {
nx = KDL::Vector(principalCurvatures->points[pidx].principal_curvature[0], principalCurvatures->points[pidx].principal_curvature[1], principalCurvatures->points[pidx].principal_curvature[2]);
}
else {
if (std::fabs(nz.z()) < 0.7) {
nx = KDL::Vector(0, 0, 1);
}
else {
nx = KDL::Vector(1, 0, 0);
}
}
ny = nz * nx;
nx = ny * nz;
nx.Normalize();
ny.Normalize();
nz.Normalize();
(*features_map[body_name])[pidx] = KDL::Frame( KDL::Rotation(nx, ny, nz), KDL::Vector(res->points[pidx].x, res->points[pidx].y, res->points[pidx].z) );
}
}
}
}
}
const double sigma_p = 0.01;//05;
const double sigma_q = 10.0/180.0*PI;//100.0;
const double sigma_r = 0.2;//05;
double sigma_c = 5.0/180.0*PI;
int m_id = 101;
// generate object model
boost::shared_ptr<ObjectModel > om(new ObjectModel);
for (int pidx = 0; pidx < point_clouds_map[ob_name]->points.size(); pidx++) {
if (point_pc_clouds_map[ob_name]->points[pidx].pc1 > 1.1 * point_pc_clouds_map[ob_name]->points[pidx].pc2) {
// e.g. pc1=1, pc2=0
// edge
om->addPointFeature((*features_map[ob_name])[pidx] * KDL::Frame(KDL::Rotation::RotZ(PI)), point_pc_clouds_map[ob_name]->points[pidx].pc1, point_pc_clouds_map[ob_name]->points[pidx].pc2);
om->addPointFeature((*features_map[ob_name])[pidx], point_pc_clouds_map[ob_name]->points[pidx].pc1, point_pc_clouds_map[ob_name]->points[pidx].pc2);
}
else {
for (double angle = 0.0; angle < 359.0/180.0*PI; angle += 20.0/180.0*PI) {
om->addPointFeature((*features_map[ob_name])[pidx] * KDL::Frame(KDL::Rotation::RotZ(angle)), point_pc_clouds_map[ob_name]->points[pidx].pc1, point_pc_clouds_map[ob_name]->points[pidx].pc2);
}
}
}
std::cout << "om.getPointFeatures().size(): " << om->getPointFeatures().size() << std::endl;
KDL::Frame T_W_O = frames_map[ob_name];
// generate collision model
std::map<std::string, std::list<std::pair<int, double> > > link_pt_map;
boost::shared_ptr<CollisionModel > cm(new CollisionModel);
cm->setSamplerParameters(sigma_p, sigma_q, sigma_r);
std::list<std::string > gripper_link_names;
for (int bidx = 0; bidx < bh->getNumBodyNodes(); bidx++) {
const std::string &link_name = bh->getBodyNode(bidx)->getName();
gripper_link_names.push_back(link_name);
}
double dist_range = 0.01;
for (std::list<std::string >::const_iterator nit = gripper_link_names.begin(); nit != gripper_link_names.end(); nit++) {
const std::string &link_name = (*nit);
if (point_clouds_map.find( link_name ) == point_clouds_map.end()) {
continue;
}
cm->addLinkContacts(dist_range, link_name, point_clouds_map[link_name], frames_map[link_name],
om->getPointFeatures(), T_W_O);
}
// generate hand configuration model
boost::shared_ptr<HandConfigurationModel > hm(new HandConfigurationModel);
std::map<std::string, double> joint_q_map_before( joint_q_map );
double angleDiffKnuckleTwo = 15.0/180.0*PI;
joint_q_map_before["right_HandFingerOneKnuckleTwoJoint"] -= angleDiffKnuckleTwo;
joint_q_map_before["right_HandFingerTwoKnuckleTwoJoint"] -= angleDiffKnuckleTwo;
joint_q_map_before["right_HandFingerThreeKnuckleTwoJoint"] -= angleDiffKnuckleTwo;
joint_q_map_before["right_HandFingerOneKnuckleThreeJoint"] -= angleDiffKnuckleTwo*0.333333;
joint_q_map_before["right_HandFingerTwoKnuckleThreeJoint"] -= angleDiffKnuckleTwo*0.333333;
joint_q_map_before["right_HandFingerThreeKnuckleThreeJoint"] -= angleDiffKnuckleTwo*0.333333;
hm->generateModel(joint_q_map_before, joint_q_map, 1.0, 10, sigma_c);
writeToXml(argv[3], cm, hm);
return 0;
}
void
showkre(void)
{
float f1, f2;
int psiz;
int i, lc;
long inttotal;
long l;
static int failcnt = 0;
double total_time;
etime = 0;
CP_UPDATE(cp_time.cp_user);
CP_UPDATE(cp_time.cp_nice);
CP_UPDATE(cp_time.cp_sys);
CP_UPDATE(cp_time.cp_intr);
CP_UPDATE(cp_time.cp_idle);
total_time = etime;
if (total_time == 0.0)
total_time = 1.0;
if (etime < 100000.0) { /* < 100ms ignore this trash */
if (failcnt++ >= MAXFAIL) {
clear();
mvprintw(2, 10, "The alternate system clock has died!");
mvprintw(3, 10, "Reverting to ``pigs'' display.");
move(CMDLINE, 0);
refresh();
failcnt = 0;
sleep(5);
command("pigs");
}
return;
}
failcnt = 0;
etime /= 1000000.0;
etime /= ncpu;
if (etime == 0)
etime = 1;
inttotal = 0;
for (i = 0; i < nintr; i++) {
if (s.intrcnt[i] == 0)
continue;
if (intrloc[i] == 0) {
if (nextintsrow == LINES)
continue;
intrloc[i] = nextintsrow++;
mvprintw(intrloc[i], INTSCOL + 9, "%-10.10s",
intrname[i]);
}
X(intrcnt);
l = (long)((float)s.intrcnt[i]/etime + 0.5);
inttotal += l;
put64(l, intrloc[i], INTSCOL + 2, 6, 'D');
}
put64(inttotal, INTSROW + 1, INTSCOL + 2, 6, 'D');
Z(ncs_goodhits); Z(ncs_badhits); Z(ncs_miss);
Z(ncs_longhits); Z(ncs_longmiss); Z(ncs_neghits);
s.nchcount = nchtotal.ncs_goodhits + nchtotal.ncs_badhits +
nchtotal.ncs_miss + nchtotal.ncs_neghits;
s.nchpathcount = nchtotal.ncs_longhits + nchtotal.ncs_longmiss;
if (state == TIME) {
s1.nchcount = s.nchcount;
s1.nchpathcount = s.nchpathcount;
}
psiz = 0;
f2 = 0.0;
for (lc = 0; lc < CPUSTATES; lc++) {
uint64_t val = *(uint64_t *)(((uint8_t *)&s.cp_time) +
cpuoffsets[lc]);
f1 = 100.0 * val / total_time;
f2 += f1;
l = (int) ((f2 + 1.0) / 2.0) - psiz;
if (f1 > 99.9)
f1 = 99.9; /* no room to display 100.0 */
putfloat(f1, GRAPHROW, GRAPHCOL + 10 * lc, 4, 1, 0);
move(GRAPHROW + 2, psiz);
psiz += l;
while (l-- > 0)
addch(cpuchar[lc]);
}
put64(ucount(), STATROW, STATCOL, 3, 'D');
putfloat(avenrun[0], STATROW, STATCOL + 18, 6, 2, 0);
putfloat(avenrun[1], STATROW, STATCOL + 25, 6, 2, 0);
putfloat(avenrun[2], STATROW, STATCOL + 32, 6, 2, 0);
mvaddstr(STATROW, STATCOL + 53, buf);
#define pgtokb(pg) (int64_t)((intmax_t)(pg) * vms.v_page_size / 1024)
#define pgtomb(pg) (int64_t)((intmax_t)(pg) * vms.v_page_size / (1024 * 1024))
#define pgtob(pg) (int64_t)((intmax_t)(pg) * vms.v_page_size)
put64(pgtob(total.t_arm), MEMROW + 2, MEMCOL + 4, 6, 0);
put64(pgtob(total.t_armshr), MEMROW + 2, MEMCOL + 11, 6, 0);
put64(pgtob(total.t_avm), MEMROW + 2, MEMCOL + 19, 6, 0);
put64(pgtob(total.t_avmshr), MEMROW + 2, MEMCOL + 26, 6, 0);
put64(pgtob(total.t_rm), MEMROW + 3, MEMCOL + 4, 6, 0);
put64(pgtob(total.t_rmshr), MEMROW + 3, MEMCOL + 11, 6, 0);
put64(pgtob(total.t_vm), MEMROW + 3, MEMCOL + 19, 6, 0);
put64(pgtob(total.t_vmshr), MEMROW + 3, MEMCOL + 26, 6, 0);
put64(pgtob(total.t_free), MEMROW + 2, MEMCOL + 34, 6, 0);
put64(total.t_rq - 1, PROCSROW + 1, PROCSCOL + 0, 3, 'D');
put64(total.t_pw, PROCSROW + 1, PROCSCOL + 3, 3, 'D');
put64(total.t_dw, PROCSROW + 1, PROCSCOL + 6, 3, 'D');
put64(total.t_sl, PROCSROW + 1, PROCSCOL + 9, 3, 'D');
put64(total.t_sw, PROCSROW + 1, PROCSCOL + 12, 3, 'D');
if (extended_vm_stats == 0) {
PUTRATE(Vmm.v_zfod, VMSTATROW + 0, VMSTATCOL, 7);
}
PUTRATE(Vmm.v_cow_faults, VMSTATROW + 1, VMSTATCOL, 7);
put64(pgtob(vms.v_wire_count), VMSTATROW + 2, VMSTATCOL, 7, 0);
put64(pgtob(vms.v_active_count), VMSTATROW + 3, VMSTATCOL, 7, 0);
put64(pgtob(vms.v_inactive_count), VMSTATROW + 4, VMSTATCOL, 7, 0);
put64(pgtob(vms.v_cache_count), VMSTATROW + 5, VMSTATCOL, 7, 0);
put64(pgtob(vms.v_free_count), VMSTATROW + 6, VMSTATCOL, 7, 0);
PUTRATE(Vmm.v_dfree, VMSTATROW + 7, VMSTATCOL, 7);
PUTRATE(Vmm.v_pfree, VMSTATROW + 8, VMSTATCOL, 7);
PUTRATE(Vmm.v_reactivated, VMSTATROW + 9, VMSTATCOL, 7);
PUTRATE(Vmm.v_pdwakeups, VMSTATROW + 10, VMSTATCOL, 7);
PUTRATE(Vmm.v_pdpages, VMSTATROW + 11, VMSTATCOL, 7);
PUTRATE(Vmm.v_intrans, VMSTATROW + 12, VMSTATCOL, 7);
if (extended_vm_stats) {
PUTRATE(Vmm.v_zfod, VMSTATROW + 11, VMSTATCOL - 16, 9);
PUTRATE(Vmm.v_ozfod, VMSTATROW + 12, VMSTATCOL - 16, 9);
#define nz(x) ((x) ? (x) : 1)
put64((s.Vmm.v_zfod - s.Vmm.v_ozfod) * 100 / nz(s.Vmm.v_zfod),
VMSTATROW + 13, VMSTATCOL - 16, 9, 'D');
#undef nz
PUTRATE(Vmm.v_tfree, VMSTATROW + 14, VMSTATCOL - 16, 9);
}
put64(s.bufspace, VMSTATROW + 13, VMSTATCOL, 7, 0);
put64(s.dirtybufspace/1024, VMSTATROW + 14, VMSTATCOL, 7, 'k');
put64(s.desiredvnodes, VMSTATROW + 15, VMSTATCOL, 7, 'D');
put64(s.numvnodes, VMSTATROW + 16, VMSTATCOL, 7, 'D');
put64(s.freevnodes, VMSTATROW + 17, VMSTATCOL, 7, 'D');
PUTRATE(Vmm.v_vnodein, PAGEROW + 2, PAGECOL + 6, 4);
PUTRATE(Vmm.v_vnodeout, PAGEROW + 2, PAGECOL + 11, 4);
PUTRATE(Vmm.v_swapin, PAGEROW + 2, PAGECOL + 18, 4);
PUTRATE(Vmm.v_swapout, PAGEROW + 2, PAGECOL + 23, 4);
PUTRATE(Vmm.v_vnodepgsin, PAGEROW + 3, PAGECOL + 6, 4);
PUTRATE(Vmm.v_vnodepgsout, PAGEROW + 3, PAGECOL + 11, 4);
PUTRATE(Vmm.v_swappgsin, PAGEROW + 3, PAGECOL + 18, 4);
PUTRATE(Vmm.v_swappgsout, PAGEROW + 3, PAGECOL + 23, 4);
PUTRATE(Vmm.v_swtch, GENSTATROW + 1, GENSTATCOL + 1, 4);
PUTRATE(Vmm.v_trap, GENSTATROW + 1, GENSTATCOL + 6, 4);
PUTRATE(Vmm.v_syscall, GENSTATROW + 1, GENSTATCOL + 11, 4);
PUTRATE(Vmm.v_intr, GENSTATROW + 1, GENSTATCOL + 16, 4);
PUTRATE(Vmm.v_soft, GENSTATROW + 1, GENSTATCOL + 21, 4);
PUTRATE(Vmm.v_vm_faults, GENSTATROW + 1, GENSTATCOL + 26, 4);
mvprintw(DISKROW, DISKCOL + 5, " ");
for (i = 0, lc = 0; i < num_devices && lc < MAXDRIVES; i++)
if (dev_select[i].selected) {
char tmpstr[80];
sprintf(tmpstr, "%s%d", dev_select[i].device_name,
dev_select[i].unit_number);
mvprintw(DISKROW, DISKCOL + 5 + 6 * lc,
" %5.5s", tmpstr);
switch(state) {
case TIME:
dinfo(i, ++lc, &cur, &last);
break;
case RUN:
dinfo(i, ++lc, &cur, &run);
break;
case BOOT:
dinfo(i, ++lc, &cur, NULL);
break;
}
}
#define nz(x) ((x) ? (x) : 1)
put64(s.nchpathcount, NAMEIROW + 1, NAMEICOL + 3, 9, 'D');
put64(nchtotal.ncs_longhits, NAMEIROW + 1, NAMEICOL + 12, 7, 'D');
putfloat(nchtotal.ncs_longhits * 100.0 / nz(s.nchpathcount),
NAMEIROW + 1, NAMEICOL + 19, 4, 0, 0);
putfloat((double)s.nchcount / nz(s.nchpathcount),
NAMEIROW + 1, NAMEICOL + 27, 5, 2, 1);
#undef nz
}
static void
sync_chans( main_vars_t *mvars, int ent )
{
group_conf_t *group;
channel_conf_t *chan;
store_t *store;
string_list_t *mbox, *sbox, **mboxp, **sboxp;
char *channame;
int t;
if (!mvars->cben)
return;
switch (ent) {
case E_OPEN: goto opened;
case E_SYNC: goto syncone;
}
for (;;) {
mvars->boxlist = 0;
if (!mvars->all) {
if (mvars->chanptr)
channame = mvars->chanptr->string;
else {
for (group = groups; group; group = group->next)
if (!strcmp( group->name, mvars->argv[mvars->oind] )) {
mvars->chanptr = group->channels;
channame = mvars->chanptr->string;
goto gotgrp;
}
channame = mvars->argv[mvars->oind];
gotgrp: ;
}
if ((mvars->boxlist = strchr( channame, ':' )))
*mvars->boxlist++ = 0;
for (chan = channels; chan; chan = chan->next)
if (!strcmp( chan->name, channame ))
goto gotchan;
error( "No channel or group named '%s' defined.\n", channame );
mvars->ret = 1;
goto gotnone;
gotchan:
mvars->chan = chan;
}
merge_actions( mvars->chan, mvars->ops, XOP_HAVE_TYPE, OP_MASK_TYPE, OP_MASK_TYPE );
merge_actions( mvars->chan, mvars->ops, XOP_HAVE_CREATE, OP_CREATE, 0 );
merge_actions( mvars->chan, mvars->ops, XOP_HAVE_EXPUNGE, OP_EXPUNGE, 0 );
mvars->state[M] = mvars->state[S] = ST_FRESH;
info( "Channel %s\n", mvars->chan->name );
mvars->boxes[M] = mvars->boxes[S] = mvars->cboxes = 0;
mvars->skip = mvars->cben = 0;
for (t = 0; t < 2; t++) {
mvars->drv[t] = mvars->chan->stores[t]->driver;
if ((store = mvars->drv[t]->own_store( mvars->chan->stores[t] )))
store_opened( store, AUX );
}
for (t = 0; t < 2 && !mvars->skip; t++)
if (mvars->state[t] == ST_FRESH) {
info( "Opening %s %s...\n", str_ms[t], mvars->chan->stores[t]->name );
mvars->drv[t]->open_store( mvars->chan->stores[t], store_opened, AUX );
}
mvars->cben = 1;
opened:
if (mvars->skip)
goto next;
if (mvars->state[M] != ST_OPEN || mvars->state[S] != ST_OPEN)
return;
if (mvars->boxlist)
mvars->boxp = mvars->boxlist;
else if (mvars->chan->patterns) {
mvars->boxes[M] = filter_boxes( mvars->ctx[M]->boxes, mvars->chan->patterns );
mvars->boxes[S] = filter_boxes( mvars->ctx[S]->boxes, mvars->chan->patterns );
for (mboxp = &mvars->boxes[M]; (mbox = *mboxp); ) {
for (sboxp = &mvars->boxes[S]; (sbox = *sboxp); sboxp = &sbox->next)
if (!strcmp( sbox->string, mbox->string )) {
*sboxp = sbox->next;
free( sbox );
*mboxp = mbox->next;
mbox->next = mvars->cboxes;
mvars->cboxes = mbox;
goto gotdupe;
}
mboxp = &mbox->next;
gotdupe: ;
}
}
if (mvars->list && mvars->multiple)
printf( "%s:\n", mvars->chan->name );
syncml:
mvars->done = mvars->cben = 0;
syncmlx:
if (mvars->boxlist) {
if ((mvars->names[S] = strsep( &mvars->boxp, ",\n" ))) {
if (!*mvars->names[S])
mvars->names[S] = 0;
if (!mvars->list) {
mvars->names[M] = mvars->names[S];
sync_boxes( mvars->ctx, mvars->names, mvars->chan, done_sync, mvars );
goto syncw;
}
puts( nz( mvars->names[S], "INBOX" ) );
goto syncmlx;
}
} else if (mvars->chan->patterns) {
if ((mbox = mvars->cboxes)) {
mvars->cboxes = mbox->next;
if (!mvars->list) {
mvars->names[M] = mvars->names[S] = mbox->string;
sync_boxes( mvars->ctx, mvars->names, mvars->chan, done_sync_dyn, mvars );
goto syncw;
}
puts( mbox->string );
free( mbox );
goto syncmlx;
}
for (t = 0; t < 2; t++)
if ((mbox = mvars->boxes[t])) {
mvars->boxes[t] = mbox->next;
if ((mvars->chan->ops[1-t] & OP_MASK_TYPE) && (mvars->chan->ops[1-t] & OP_CREATE)) {
if (!mvars->list) {
mvars->names[M] = mvars->names[S] = mbox->string;
sync_boxes( mvars->ctx, mvars->names, mvars->chan, done_sync_dyn, mvars );
goto syncw;
}
puts( mbox->string );
}
free( mbox );
goto syncmlx;
}
} else {
if (!mvars->list) {
sync_boxes( mvars->ctx, mvars->chan->boxes, mvars->chan, done_sync, mvars );
mvars->skip = 1;
syncw:
mvars->cben = 1;
if (!mvars->done)
return;
syncone:
if (!mvars->skip)
goto syncml;
} else
printf( "%s <=> %s\n", nz( mvars->chan->boxes[M], "INBOX" ), nz( mvars->chan->boxes[S], "INBOX" ) );
}
next:
for (t = 0; t < 2; t++)
if (mvars->state[t] == ST_OPEN) {
mvars->drv[t]->disown_store( mvars->ctx[t] );
mvars->state[t] = ST_CLOSED;
}
if (mvars->state[M] != ST_CLOSED || mvars->state[S] != ST_CLOSED) {
mvars->skip = mvars->cben = 1;
return;
}
free_string_list( mvars->cboxes );
free_string_list( mvars->boxes[M] );
free_string_list( mvars->boxes[S] );
if (mvars->all) {
if (!(mvars->chan = mvars->chan->next))
break;
} else {
if (mvars->chanptr && (mvars->chanptr = mvars->chanptr->next))
continue;
gotnone:
if (!mvars->argv[++mvars->oind])
break;
}
}
for (t = 0; t < N_DRIVERS; t++)
drivers[t]->cleanup();
}
void
showvmstat(void)
{
int inttotal;
int i, l, r, c;
static int failcnt = 0;
static int relabel = 0;
static int last_disks = 0;
static char pigs[] = "pigs";
if (relabel) {
labelvmstat();
relabel = 0;
}
cpuswap();
if (display_mode == TIME) {
drvswap();
etime = cur.cp_etime;
/* < 5 ticks - ignore this trash */
if ((etime * hertz) < 1.0) {
if (failcnt++ <= MAXFAIL)
return;
clear();
mvprintw(2, 10, "The alternate system clock has died!");
mvprintw(3, 10, "Reverting to ``pigs'' display.");
move(CMDLINE, 0);
refresh();
failcnt = 0;
sleep(5);
command(pigs);
return;
}
} else
etime = 1.0;
show_vmstat_top(&s.Total, &s.uvmexp, &s1.uvmexp);
/* Memory totals */
#define pgtokb(pg) ((pg) * (s.uvmexp.pagesize / 1024))
putint(pgtokb(s.uvmexp.active), MEMROW + 2, MEMCOL + 6, 9);
putint(pgtokb(s.uvmexp.active + s.uvmexp.swpginuse), /* XXX */
MEMROW + 2, MEMCOL + 16, 9);
putint(pgtokb(s.uvmexp.npages - s.uvmexp.free),
MEMROW + 3, MEMCOL + 6, 9);
putint(pgtokb(s.uvmexp.npages - s.uvmexp.free + s.uvmexp.swpginuse),
MEMROW + 3, MEMCOL + 16, 9);
putint(pgtokb(s.uvmexp.free), MEMROW + 2, MEMCOL + 26, 9);
putint(pgtokb(s.uvmexp.free + s.uvmexp.swpages - s.uvmexp.swpginuse),
MEMROW + 3, MEMCOL + 26, 9);
#undef pgtokb
/* Namei cache */
Z(s, s1, ncs_goodhits); Z(s, s1, ncs_badhits); Z(s, s1, ncs_miss);
Z(s, s1, ncs_long); Z(s, s1, ncs_pass2); Z(s, s1, ncs_2passes);
s.nchcount = s.nchstats.ncs_goodhits + s.nchstats.ncs_badhits +
s.nchstats.ncs_miss + s.nchstats.ncs_long +
s.nchstats.ncs_pass2 + s.nchstats.ncs_2passes;
if (display_mode == TIME)
s1.nchcount = s.nchcount;
putint(s.nchcount, NAMEIROW + 2, NAMEICOL, 9);
putint(s.nchstats.ncs_goodhits, NAMEIROW + 2, NAMEICOL + 9, 9);
#define nz(x) ((x) ? (x) : 1)
putfloat(s.nchstats.ncs_goodhits * 100.0 / nz(s.nchcount),
NAMEIROW + 2, NAMEICOL + 19, 4, 0, 1);
putint(s.nchstats.ncs_pass2, NAMEIROW + 2, NAMEICOL + 23, 9);
putfloat(s.nchstats.ncs_pass2 * 100.0 / nz(s.nchcount),
NAMEIROW + 2, NAMEICOL + 34, 4, 0, 1);
#undef nz
/* Disks */
for (l = 0, i = 0, r = DISKROW, c = DISKCOL;
i < (int)ndrive; i++) {
if (!drv_select[i])
continue;
if (disk_horiz)
c += DISKCOLWIDTH;
else
r++;
if (c + DISKCOLWIDTH > DISKCOLEND) {
if (disk_horiz && LINES - 1 - DISKROW >
(DISKCOLEND - DISKCOL) / DISKCOLWIDTH) {
disk_horiz = 0;
relabel = 1;
}
break;
}
if (r >= LINES - 1) {
if (!disk_horiz && LINES - 1 - DISKROW <
(DISKCOLEND - DISKCOL) / DISKCOLWIDTH) {
disk_horiz = 1;
relabel = 1;
}
break;
}
l++;
dinfo(i, r, c);
}
/* blank out if we lost any disks */
for (i = l; i < last_disks; i++) {
int j;
if (disk_horiz)
c += DISKCOLWIDTH;
else
r++;
for (j = 0; j < 5; j++) {
if (disk_horiz)
mvprintw(r+j, c, "%*s", DISKCOLWIDTH, "");
else
mvprintw(r, c+j*DISKCOLWIDTH, "%*s", DISKCOLWIDTH, "");
}
}
last_disks = l;
/* Interrupts */
failcnt = 0;
inttotal = 0;
for (i = 0; i < nintr; i++) {
if (s.intrcnt[i] == 0)
continue;
if (intrloc[i] == 0) {
if (nextintsrow == LINES)
continue;
intrloc[i] = nextintsrow++;
mvprintw(intrloc[i], INTSCOL + 9, "%-.*s",
INTSCOLEND - (INTSCOL + 9), intrname[i]);
}
X(s, s1, intrcnt);
l = (int)((float)s.intrcnt[i]/etime + 0.5);
inttotal += l;
putint(l, intrloc[i], INTSCOL, 8);
}
for (i = 0; i < nevcnt; i++) {
if (s.evcnt[i] == 0)
continue;
if (ie_head[i].ie_loc == 0) {
if (nextintsrow == LINES)
continue;
ie_head[i].ie_loc = nextintsrow++;
print_ie_title(i);
}
X(s, s1, evcnt);
l = (int)((float)s.evcnt[i]/etime + 0.5);
inttotal += l;
putint(l, ie_head[i].ie_loc, INTSCOL, 8);
}
putint(inttotal, INTSROW, INTSCOL, 8);
PUTRATE(s, s1, uvmexp.forks, VMSTATROW + 0, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.forks_ppwait, VMSTATROW + 1, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.forks_sharevm, VMSTATROW + 2, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.fltpgwait, VMSTATROW + 3, VMSTATCOL + 4, 5);
PUTRATE(s, s1, uvmexp.fltrelck, VMSTATROW + 4, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.fltrelckok, VMSTATROW + 5, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.fltnoram, VMSTATROW + 6, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.fltamcopy, VMSTATROW + 7, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.flt_prcopy, VMSTATROW + 8, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.flt_przero, VMSTATROW + 9, VMSTATCOL + 3, 6);
PUTRATE(s, s1, uvmexp.flt_acow, VMSTATROW + 10, VMSTATCOL, 9);
putint(s.uvmexp.freemin, VMSTATROW + 11, VMSTATCOL, 9);
putint(s.uvmexp.freetarg, VMSTATROW + 12, VMSTATCOL, 9);
putint(s.uvmexp.inactarg, VMSTATROW + 13, VMSTATCOL, 9);
putint(s.uvmexp.wired, VMSTATROW + 14, VMSTATCOL, 9);
PUTRATE(s, s1, uvmexp.pdfreed, VMSTATROW + 15, VMSTATCOL, 9);
if (LINES - 1 > VMSTATROW + 16)
PUTRATE(s, s1, uvmexp.pdscans, VMSTATROW + 16, VMSTATCOL, 9);
}
void graph(FILE * fp)
{
static char buf[BUFLNG], arg[BUFLNG / 2], xtype[16], ytype[16];
static double xa, ya, xap, yap, xmin, xmax, ymin, ymax;
static double xs = -NSCALE, ys = -NSCALE;
int n, c;
char *s, *p;
double x, y, lpt, th, dt, lscale, rad;
int is_grid, old_lbl = 0;
char xory;
h *= fct;
w *= fct;
for (n = 0; (s = fgets(buf, BUFLNG, fp));) {
s = getarg(s, arg);
if (s == NULL || *arg == '#'); /* comment line */
else if ((!is_t && strcmp(arg, "x") == 0)
|| (is_t && strcmp(arg, "y") == 0)) {
s = gettyp(s, xtype);
if (sscanf(s, "%lf %lf %lf", &xmin, &xmax, &xa) != 3)
xa = xmin;
if (strncmp(xtype, "log", 3) == 0) {
xmin = log10(xmin);
xmax = log10(xmax);
xa = log10(xa);
is_xlog = (xtype[3] == '*') ? -1 : 1;
}
xfct = xl / (xmax - xmin);
xap = (xa - xmin) * xfct;
x00 = -xmin * xfct;
} else if ((!is_t && strcmp(arg, "y") == 0)
|| (is_t && strcmp(arg, "x") == 0)) {
s = gettyp(s, ytype);
if (sscanf(s, "%lf %lf %lf", &ymin, &ymax, &ya) != 3)
ya = ymin;
if (strncmp(ytype, "log", 3) == 0) {
ymin = log10(ymin);
ymax = log10(ymax);
ya = log10(ya);
is_ylog = (ytype[3] == '*') ? -1 : 1;
}
yfct = (yl) ? yl / (ymax - ymin) : 0;
yap = (ya - ymin) * yfct;
y00 = -ymin * yfct;
} else if ((!is_t && strncmp(arg, "xscale", 6) == 0)
|| (is_t && strncmp(arg, "yscale", 6) == 0)) {
is_grid = *(arg + 6);
if (type < 0 || (ya != ymin && ya != ymax)) {
plot(0.0, yap, 3);
plot(xl, yap, 2);
}
ys = yap - h - MSCALE;
while ((s = getarg(s, p = arg)) != NULL) {
if (*p != '"') {
x = atof((is_number(*p)) ? p : p + 1);
if (strncmp(xtype, "mel", 3) == 0)
x = argapf(x / nz(xmax, xmin),
atof(xtype + 3)) * nz(xmax, xmin);
else if (is_xlog)
x = log10(x);
x = (x - xmin) * xfct;
lscale = (*p == 's') ? LSCALE / 2 : LSCALE;
if (*p != '\\' && *p != '@') {
plot(x, yap, 3);
plot(x, yap + lscale, 2);
if (type > 0 && !is_grid && yap == 0) {
plot(x, yl, 3);
plot(x, yl - lscale, 2);
}
} else if (*p == '\\')
++p;
}
if (is_number(*p) || *p++ == '"')
_symbol(x - sleng(p, h, w) / 2, ys - ysadj(), p, h, w, 0.0);
}
} else if ((!is_t && strncmp(arg, "yscale", 6) == 0)
|| (is_t && strncmp(arg, "xscale", 6) == 0)) {
is_grid = *(arg + 6);
if (type < 0 || (xa != xmin && xa != xmax)) {
plot(xap, 0.0, 3);
plot(xap, yl, 2);
}
while ((s = getarg(s, p = arg)) != NULL) {
if (*p != '"') {
y = atof((is_number(*p)) ? p : p + 1);
if (strncmp(ytype, "mel", 3) == 0)
y = argapf(y / nz(ymax, ymin),
atof(ytype + 3)) * nz(ymax, ymin);
else if (is_ylog)
y = log10(y);
y = (y - ymin) * yfct;
lscale = (*p == 's') ? LSCALE / 2 : LSCALE;
if (*p != '\\' && *p != '@') {
plot(xap, y, 3);
plot(xap + lscale, y, 2);
if (type > 0 && !is_grid && xap == 0) {
plot(xl, y, 3);
plot(xl - lscale, y, 2);
}
} else if (*p == '\\')
++p;
}
if (is_number(*p) || *p++ == '"') {
x = xap - sleng(p, h, w) - MSCALE;
if (x < xs)
xs = x;
_symbol(x, y - h * 0.5, p, h, w, 0.0);
}
}
} else if (strcmp(arg + 1, "grid") == 0) {
draw_fig0(xbuf, ybuf, n, wf, hf, fct);
if ((!is_t && (*arg == 'x')) || (is_t && (*arg == 'y'))) {
ybuf[0] = 0;
ybuf[1] = yl;
while ((s = getarg(s, arg)) != NULL) {
x = atof(arg);
if (is_xlog)
x = log10(x);
xbuf[0] = xbuf[1]
= (x - xmin) * xfct;
draw_fig0(xbuf, ybuf, 2, wf, hf, fct);
}
} else {
xbuf[0] = 0;
xbuf[1] = xl;
while ((s = getarg(s, arg)) != NULL) {
y = atof(arg);
if (is_ylog)
y = log10(y);
ybuf[0] = ybuf[1]
= (y - ymin) * yfct;
draw_fig0(xbuf, ybuf, 2, wf, hf, fct);
}
}
n = 0;
} else if (strcmp(arg + 1, "circle") == 0) {
xory = *arg;
s = getarg(s, arg);
x = xt(atof(arg));
s = getarg(s, arg);
y = yt(atof(arg));
swap(&x, &y);
x = xfct * x + x00;
y = yfct * y + y00;
while ((s = getarg(s, arg)) != NULL) {
if ((!is_t && xory == 'x') || (is_t && xory == 'y'))
rad = xt(atof(arg)) * xfct;
else
rad = yt(atof(arg)) * yfct;
pntstyl(ptyp);
circle(x, y, rad, rad, 0., 360.);
}
} else if (strcmp(arg, "circle") == 0) {
s = getarg(s, arg);
x = xt(atof(arg));
s = getarg(s, arg);
y = yt(atof(arg));
swap(&x, &y);
x = xfct * x + x00;
y = yfct * y + y00;
while ((s = getarg(s, arg)) != NULL) {
rad = atof(arg);
pntstyl(ptyp);
circle(x, y, rad, rad, 0., 360.);
}
} else if (strcmp(arg + 1, "name") == 0) {
s = getname(s, p = arg + 1);
if ((!is_t && *arg == 'x') || (is_t && *arg == 'y'))
_symbol((xl - sleng(s, h, w)) / 2,
(*p) ? -atof(p) - h : ys - h - NSCALE, s, h, w, 0.0);
else
_symbol((*p) ? -atof(p) : xs - MSCALE,
(yl - sleng(s, h, w)) / 2, s, h, w, 90.0);
} else if (strncmp(arg, "title", 5) == 0 || strncmp(arg, "print", 5) == 0) {
sscanf(s, "%lf %lf", &x, &y);
swap(&x, &y);
if (*arg == 'p') {
x = xfct * xt(x) + x00;
y = yfct * yt(y) + y00;
}
s = gettxt_fig(s);
th = getarg(s + strlen(s) + 1, arg) ? atof(arg) : 0;
if (*(arg + 5)) {
x -= rx(LADJ * h / 2, h / 2, th);
y -= ry(LADJ * h / 2, h / 2, th);
}
_symbol(x, y, s, h, w, th);
} else if (strcmp(arg, "eod") == 0 || strcmp(arg, "EOD") == 0) {
draw_fig0(xbuf, ybuf, n, wf, hf, fct);
n = 0;
} else if (strcmp(arg, "pen") == 0) {
n = flush(xbuf, ybuf, n, wf, hf, fct);
pen(atoi(s));
} else if (strcmp(arg, "join") == 0) {
n = flush(xbuf, ybuf, n, wf, hf, fct);
join(atoi(s));
} else if (strcmp(arg, "csize") == 0) {
if (sscanf(s, "%lf %lf", &h, &w) != 2)
w = h;
} else if (strcmp(arg, "hight") == 0) {
if (sscanf(s, "%lf %lf", &mh, &mw) != 2)
mw = mh;
} else if (strcmp(arg, "line") == 0) {
n = flush(xbuf, ybuf, n, wf, hf, fct);
if (sscanf(s, "%d %lf", <ype, &lpt) != 2) {
if (ltype > 0)
lpt = lpit[ltype - 1];
}
if (--ltype >= 0)
mode(lmod[ltype], lpt);
} else if (strcmp(arg, "italic") == 0)
italic(atof(s));
else if (strcmp(arg, "mark") == 0) {
while (*s == ' ' || *s == '\t')
++s;
if (*s == '\\' && *(s + 1) == '0')
*label = '\0';
else
strcpy(label, s);
} else if (strcmp(arg, "paint") == 0) {
sscanf(s, "%d %lf %lf", &ptyp, &dhat, &that);
} else if (strcmp(arg, "clip") == 0) {
draw_fig0(xbuf, ybuf, n, wf, hf, fct);
for (n = 0; (s = getarg(s, arg)) != NULL; ++n) {
x = xt(atof(arg));
if ((s = getarg(s, arg)) == NULL)
break;
y = yt(atof(arg));
swap(&x, &y);
xbuf[n] = xfct * x + x00;
ybuf[n] = yfct * y + y00;
}
if (n == 0) {
xclip0 = yclip0 = 0;
xclip1 = xl;
yclip1 = yl;
swap(&xclip1, &yclip1);
} else if (n == 2) {
xclip0 = xbuf[0];
yclip0 = ybuf[0];
xclip1 = xbuf[1];
yclip1 = ybuf[1];
}
n = 0;
} else if (strcmp(arg, "box") == 0) {
draw_fig0(xbuf, ybuf, n, wf, hf, fct);
for (n = 0; (s = getarg(s, arg)) != NULL; ++n) {
x = xt(atof(arg));
if ((s = getarg(s, arg)) == NULL)
break;
y = yt(atof(arg));
swap(&x, &y);
xbuf[n] = xfct * x + x00;
ybuf[n] = yfct * y + y00;
}
if (n == 2) {
xbuf[2] = xbuf[1];
ybuf[3] = ybuf[2] = ybuf[1];
ybuf[1] = ybuf[0];
xbuf[3] = xbuf[0];
n = 4;
}
polyg(xbuf, ybuf, n, wf, hf, fct);
n = 0;
} else {
x = xt(atof(arg));
s = getarg(s, arg);
y = yt(atof(arg));
swap(&x, &y);
xbuf[n] = x = xfct * x + x00;
ybuf[n] = y = yfct * y + y00;
if (is_in(x, y) && ((s = getarg(s, arg))
|| *label || old_lbl > 0)) {
c = 0;
if (s || *label) {
if (s == NULL)
s = getarg(label, arg);
if (*arg == '\\' && (abs(c = atoi(arg + 1))) < 16)
mark(abs(c), &x, &y, 1, mh, 1);
else if (abs(c) == 16) {
pntstyl(ptyp);
circle(x, y, mh / 2, mh / 2, 0., 360.);
} else {
if (c) {
*arg = c;
*(arg + 1) = '\0';
}
_symbol(x - LADJ * h / 2, y - w / 2, arg, h, w, atof(s));
}
}
if (c > 0)
n = flush(xbuf, ybuf, n, wf, hf, fct);
if ((c > 0 || old_lbl > 0) && n) {
dt = atan2(y - ybuf[0], x - xbuf[0]);
if (old_lbl > 0) {
xbuf[0] += MADJ * mh * cos(dt);
ybuf[0] += MADJ * mh * sin(dt);
}
if (c > 0) {
xbuf[1] -= MADJ * mh * cos(dt);
ybuf[1] -= MADJ * mh * sin(dt);
}
draw_fig0(xbuf, ybuf, 2, wf, hf, fct);
xbuf[0] = x;
ybuf[0] = y;
n = 0;
}
old_lbl = c;
}
if (++n >= BUFLNG)
n = flush(xbuf, ybuf, n, wf, hf, fct);
}
}
draw_fig0(xbuf, ybuf, n, wf, hf, fct);
}
typename AbstractLinAlgPack::SparseVectorUtilityPack::SpVecIndexLookup<T_Element>::poss_type
AbstractLinAlgPack::SparseVectorUtilityPack::SpVecIndexLookup<T_Element>::find_poss(
index_type index, UpperLower uplow) const
{
// First look at the cache. If it matches then use that information, otherwise
// perform a binary search to find the possition then cache it for latter.
if(index_cached_) {
if(index == index_cached_) // Same as cache so use cache
return poss_type(adjust_cached_poss(uplow),ele_rel_cached_);
if(index == index_cached_ + 1 && ele_rel_cached_ == AFTER_ELE
&& uplow == LOWER_ELE)
{
// Since poss_cached_ = ( max p s.t. ele_[p].index() < index_cached_ )
// there are three possibilities here:
// Either:
// a) poss_cashed_ == nz_ - 1
if( poss_cached_ == nz_ - 1 )
return poss_type( poss_cached_ , AFTER_ELE );
// b) ele_[poss_cashed_+1].index() == index
if( ele_[poss_cached_+1].index() == index )
return poss_type( poss_cached_+1 , EQUAL_TO_ELE );
// c) ele_[poss_cashed_+1].index() > index.
if( ele_[poss_cached_+1].index() > index )
return poss_type( poss_cached_+1 , BEFORE_ELE );
}
if(index == index_cached_ - 1 && ele_rel_cached_ == BEFORE_ELE
&& uplow == UPPER_ELE)
{
// Since poss_cached_ = ( max p s.t. ele_[p].index() < index_cached_ )
// there are three possibilities here:
// Either:
// a) poss_cashed_ == 0
if( poss_cached_ == 0 )
return poss_type( poss_cached_ , BEFORE_ELE );
// b) ele_[poss_cashed_-1].index() == index
if( ele_[poss_cached_+1].index() == index )
return poss_type( poss_cached_-1 , EQUAL_TO_ELE );
// c) ele_[poss_cashed_-1].index() < index.
return poss_type( poss_cached_ - 1, AFTER_ELE);
}
}
// Perform binary search for the element
poss_type poss = binary_ele_search(index,uplow);
// Cache the result if needed. Don't cache an endpoint
if(poss.poss != 0 && poss.poss != nz() - 1) {
index_cached_ = index;
poss_cached_ = poss.poss;
ele_rel_cached_ = poss.rel;
}
return poss;
}