void Entity::impact(const vec3d& inMomentum)
{
const vec3d& vec = getMomentum();
mVelocity[0] = (vec[0] + inMomentum[0]) / getMass();
mVelocity[1] = (vec[1] + inMomentum[1]) / getMass();
mVelocity[2] = (vec[2] + inMomentum[2]) / getMass();
}
bool Character::CharacterBody::interact(AstroBody* body, double deltaTime,
vector2p& interactPoint, vector2p& impulse) {
// FIXME: Way too much happening here. Move some of the code elsewhere.
phys_t t1, t2;
vector2p posCharacter = getPosition(), posBody = body->getPosition();
vector2p legA = posCharacter - posBody;
phys_t hVel = (getVelocity() - body->getVelocityAt(legA)) / legA.unit();
phys_t angle = legA.angle() - PI / 2 - getOrientation();
phys_t accel = clampmag(hVel / 8.0 - parent_->vel_, 1.0);
angle = clampmag(remainder(angle, PI * 2) + accel * PI / 8, PI / 2);
walkCycle_ = remainder(walkCycle_ - deltaTime * hVel * 5.0, PI * 2);
phys_t leg = 0.25 + 0.15 * (1.0 - parent_->powerJump_);
vector2p feetOrigin = vector2p::fromAngle(angle - PI / 2) * (leg - 0.05);
vector2p feetOffset = vector2p::fromAngle(walkCycle_) * 0.15;
parent_->legBack_.setPosition(feetOrigin + feetOffset);
parent_->legFront_.setPosition(feetOrigin - feetOffset);
angle += PI / 2 + getOrientation();
vector2p legB = legA - vector2p()(cos(angle), sin(angle));
phys_t radius = ((Circle<phys_t>*) (body->getShape()))->getRadius();
phys_t radiusSqr = radius * radius;
if (intersectLineCircle<phys_t> (legA, legB, radiusSqr, t1, t2) && t1 > 0
&& t1 < leg) {
vector2p interactBody = legA * (1 - t1) + legB * t1;
interactPoint = interactBody + posBody;
vector2p interactCharacter = interactPoint - posCharacter;
vector2p n = interactCharacter / t1;
impulse = -n * (8000.0 * (leg - t1)
+ max(0.0, getMomentum() * n * 50.0)) * deltaTime;
phys_t da = remainder(getOrientation() - atan2(n.x, -n.y), 2 * PI);
phys_t dav = getAngularVelocity() + getVelocity() / legA
/ legA.squared();
vector2p na = legA.unit();
phys_t in = na * impulse;
phys_t balancing = (da * 500 + dav * 200) * deltaTime;
phys_t ip = clampmag(~na * impulse + balancing, 0.8 * in);
impulse = na * in + ~na * ip;
return true;
}
return false;
}
string Solver::convet2CaffeFormat()
{
string outStr = "";
string netStrStart = "net: \"";
string netStrEnd = "\"\n";
string trainNetStrStart = "train_net: \"";
string trainNetStrEnd = "\"\n";
string testNetStrStart = "test_net: \"";
string testNetStrEnd = "\"\n";
string testIterStrStart = "test_iter: ";
string testIterStrEnd = "\n";
string testIntervalStrStart = "test_interval: ";
string testIntervalStrEnd = "\n";
string baseLrStrStart = "base_lr: ";
string baseLrStrEnd = "\n";
string momentumStrStart = "momentum: ";
string momentumStrEnd = "\n";
string weightDecayStrStart = "weight_decay: ";
string weightDecayStrEnd = "\n";
string lrPolicyStrStart = "lr_policy: \"";
string lrPolicyStrEnd = "\"\n";
string stepSizeStrStart = "stepsize: ";
string stepSizeStrEnd = "\n";
string gammaStrStart = "gamma: ";
string gammaStrEnd = "\n";
string powerStrStart = "power: ";
string powerStrEnd = "\n";
string stepValueStrStart = "stepvalue: ";
string stepValueStrEnd = "\n";
string displayStrStart = "display: ";
string displayStrEnd = "\n";
string maxIterStrStart = "max_iter: ";
string maxIterStrEnd = "\n";
string snapshotStrStart = "snapshot: ";
string snapshotStrEnd = "\n";
string snapshotPrefixStrStart = "snapshot_prefix: \"";
string snapshotPrefixStrEnd = "\"\n";
string typeStrStart = "type: \"";
string typeStrEnd = "\"\n";
string solveModeStrStart = "solver_mode: ";
string solveModeStrEnd= "\n";
if(getNet() != "")
{
outStr += netStrStart + getNet() + netStrEnd;
}
if(getTainNet() != "")
{
outStr += trainNetStrStart + getTainNet() + trainNetStrEnd;
}
if(getTestNet() != "")
{
outStr += testNetStrStart + getTestNet() + testNetStrEnd;
}
outStr += testIterStrStart + to_string(getTestIter()) + testIterStrEnd +
testIntervalStrStart + to_string(getTestInterval()) + testIntervalStrEnd +
baseLrStrStart + to_string(getBaseLr()) + baseLrStrEnd +
momentumStrStart + to_string(getMomentum()) + momentumStrEnd +
weightDecayStrStart + to_string(getWeightDecay()) + weightDecayStrEnd;
switch(getLrPolicy())
{
case LrPolicy::LRPOLICY_FIXED:
{
outStr += lrPolicyStrStart + "fixed" + lrPolicyStrEnd;
break;
}
case LrPolicy::LRPOLICY_STEP:
{
outStr += lrPolicyStrStart + "step" + lrPolicyStrEnd +
stepSizeStrStart + to_string(getStepSize()) + stepSizeStrEnd +
gammaStrStart + to_string(getGamma()) + gammaStrEnd;
break;
}
case LrPolicy::LRPOLICY_EXP:
{
outStr += lrPolicyStrStart + "exp" + lrPolicyStrEnd +
gammaStrStart + to_string(getGamma()) + gammaStrEnd;
break;
}
case LrPolicy::LRPOLICY_INV:
{
outStr += lrPolicyStrStart + "inv" + lrPolicyStrEnd +
gammaStrStart + to_string(getGamma()) + gammaStrEnd +
powerStrStart + to_string(getPower()) + powerStrEnd;
break;
}
case LrPolicy::LRPOLICY_MULTISTEP:
{
outStr += lrPolicyStrStart + "multistep" + lrPolicyStrEnd;
for(int i = 0 ; i < mParam->mStepValue.size(); i++)
{
outStr += stepValueStrStart + to_string(getStepValue(i)) + stepValueStrEnd;
}
outStr += gammaStrStart + to_string(getGamma()) + gammaStrEnd;
break;
}
case LrPolicy::LRPOLICY_POLY:
{
outStr += lrPolicyStrStart + "poly" + lrPolicyStrEnd +
powerStrStart + to_string(getPower()) + powerStrEnd;
break;
}
case LrPolicy::LRPOLICY_SIGMOID:
{
outStr += lrPolicyStrStart + "sigmoid" + lrPolicyStrEnd +
stepSizeStrStart + to_string(getStepSize()) + stepSizeStrEnd +
gammaStrStart + to_string(getGamma()) + gammaStrEnd;
break;
}
}
outStr += displayStrStart + to_string(getDisplay()) + displayStrEnd +
maxIterStrStart + to_string(getMaxIter()) + maxIterStrEnd +
snapshotStrStart + to_string(getSnapshot()) + snapshotStrEnd;
if(getSnapshotPrefix() != "")
{
outStr += snapshotPrefixStrStart + getSnapshotPrefix() + snapshotPrefixStrEnd;
}
switch(getType())
{
case SolverType::SGD:
{
outStr += typeStrStart + "SGD" + typeStrEnd;
break;
}
case SolverType::NESTEROV:
{
outStr += typeStrStart + "Nesterov" + typeStrEnd;
break;
}
case SolverType::ADAGRAD:
{
outStr += typeStrStart + "AdaGrad" + typeStrEnd;
break;
}
case SolverType::RMSPROP:
{
outStr += typeStrStart + "RMSProp" + typeStrEnd;
break;
}
case SolverType::ADADELTA:
{
outStr += typeStrStart + "AdaDelta" + typeStrEnd;
break;
}
case SolverType::ADAM:
{
outStr += typeStrStart + "Adam" + typeStrEnd;
break;
}
}
switch(getSolverMode())
{
case SolverMode::CPU:
{
outStr += solveModeStrStart + "CPU" + solveModeStrEnd;
break;
}
case SolverMode::GPU:
{
outStr += solveModeStrStart + "GPU" + solveModeStrEnd;
break;
}
}
return outStr;
}
