void StableFluid3D::initPoisson()
{
clearPoisson();
int n = resX * resY * resZ;
for (int i = 0; i < 2; ++i)
{
r.push_back(Vector(n));
z.push_back(Vector(n));
}
p.Resize(n);
SparseMatrix hTranspose;
SparseMatrix h;
laplacian = SparseMatrix(n, n);
hTranspose = SparseMatrix(n, n);
h = SparseMatrix(n, n);
preconditioner = SparseMatrix(n, n);
pressure.Resize(n);
tempPressure.Resize(n);
vel.Resize(n);
ones.Resize(n);
for (int i = 0; i < n; ++i)
{
ones[i] = 1;
}
double rdxSqr = (resX * resX) / (width * width);
double rdySqr = (resY * resY) / (height * height);
double rdzSqr = (resZ * resZ) / (depth * depth);
// initialize values for the laplacian matrix
for (int i = 0; i < resX; ++i)
{
for (int j = 0; j < resY; ++j)
{
for (int k = 0; k < resZ; ++k)
{
int row = makeIndex(i, j, k);
int x1 = (i == (resX - 1) ? row : row + 1);
int x2 = (i == 0 ? row : row - 1);
int y1 = (j == (resY - 1) ? row : row + resX);
int y2 = (j == 0 ? row : row - resX);
int z1 = (k == (resZ - 1) ? row : row + resY * resX);
int z2 = (k == 0 ? row : row - resY * resX);
laplacian[row][row] += 6 * (rdxSqr + rdySqr + rdzSqr);
laplacian[row][x1] -= rdxSqr;
laplacian[row][x2] -= rdxSqr;
laplacian[row][y1] -= rdySqr;
laplacian[row][y2] -= rdySqr;
laplacian[row][z1] -= rdzSqr;
laplacian[row][z2] -= rdzSqr;
}
}
}
// perform Cholesky preconditioning
// decompose laplacian into H * H^T
SparseVector::iterator iter;
hTranspose = laplacian.Transpose();
SparseMatrix& A = hTranspose;
for (int k = 0; k < n; ++k)
{
SparseVector::iterator aik(A[k]);
aik.seek(k);
if (aik.getIndex() != k)
{
assert(0);
}
double divisor = std::sqrt(*aik);
*aik = divisor;
aik++;
while (aik)
{
*aik /= divisor;
aik++;
}
SparseVector::iterator ajk(A[k]);
ajk.seek(k + 1);
while (ajk)
{
int j = ajk.getIndex();
aik.reset();
aik.seek(j);
SparseVector::iterator aij(A[j]);
aij.seek(j);
while (aij && aik)
{
int i = aij.getIndex();
if (aik.getIndex() == i)
{
*aij -= (*aik) * (*ajk);
aik++;
}
aij++;
if (aij)
{
i = aij.getIndex();
while (aik && aik.getIndex() < i)
{
aik++;
}
}
}
ajk++;
}
}
h = hTranspose.Transpose();
// cerr<<"Sparsity of laplacian is " << laplacian.Sparsity() << endl;
preconditioner = h.FastMultiplyTranspose();
int maxIndex = resX * resY * resZ;
// for (int i = 0; i < maxIndex; ++i)
// preconditioner[i][i] = 1;
// cerr<<"Sparsity of preconditioner is " << preconditioner.Sparsity() << endl;
}
void AsiMS2000::selectCommand(int commandNum)
{
switch(commandNum)
{
case 0:
accel();
break;
case 1:
aalign();
break;
case 2:
afcont();
break;
case 3:
aflim();
break;
case 4:
afocus();
break;
case 5:
afset();
break;
case 6:
afmove();
break;
case 7:
ahome();
break;
case 8:
aij();
break;
case 9:
array();
break;
case 10:
azero();
break;
case 11:
backlash();
break;
case 12:
bcustom();
break;
case 13:
benable();
break;
case 14:
build();
break;
case 15:
cdate();
break;
case 16:
cnts();
break;
case 17:
customa();
break;
case 18:
customb();
break;
case 19:
dack();
break;
case 20:
dump();
break;
case 21:
ensync();
break;
case 22:
epolarity();
break;
case 23:
error();
break;
case 24:
halt();
break;
case 25:
here();
break;
case 26:
home();
break;
case 27:
info();
break;
case 28:
joystick();
break;
case 29:
jsspd();
break;
case 30:
kadc();
break;
case 31:
kd();
break;
case 32:
ki();
break;
case 33:
kp();
break;
case 34:
lcd();
break;
case 35:
led();
break;
case 36:
lladdr();
break;
case 37:
load();
break;
case 38:
lock();
break;
case 39:
lockrg();
break;
case 40:
lockset();
break;
case 41:
maintain();
break;
case 42:
motctrl();
break;
case 43:
move();
break;
case 44:
movrel();
break;
case 45:
pcros();
break;
case 46:
pedal();
break;
case 47:
rbmode();
break;
case 48:
rdadc();
break;
case 49:
rdsbyte();
break;
case 50:
rdstat();
break;
case 51:
relock();
break;
case 52:
reset();
break;
case 53:
rt();
break;
case 54:
runaway();
break;
case 55:
saveset();
break;
case 56:
savepos();
break;
case 57:
scan();
break;
case 58:
scanr();
break;
case 59:
scanv();
break;
case 60:
secure();
break;
case 61:
sethome();
break;
case 62:
setlow();
break;
case 63:
setup();
break;
case 64:
si();
break;
case 65:
speed();
break;
case 66:
spin();
break;
case 67:
status();
break;
case 68:
stopbits();
break;
case 69:
ttl();
break;
case 70:
um();
break;
case 71:
units();
break;
case 72:
unlock();
break;
case 73:
vb();
break;
case 74:
vector();
break;
case 75:
version();
break;
case 76:
wait();
break;
case 77:
where();
break;
case 78:
who();
break;
case 79:
wrdac();
break;
case 80:
zero();
break;
case 81:
z2b();
break;
case 82:
zs();
break;
case 83:
overshoot();
break;
}
}