int server(void)
{
int s = mseminit(SEM0, 0600, 2, 0, 1);
if (s == -1) {
perror("mseminit");
return 1;
}
int cnt = 1;
for (int i = 0; i < 5; ++i) {
if (mP(s, 1, 0) != 0) {
if (errno == EINTR) {
/* interrupted by syscall, try again */
continue;
}
perror("mP(0)");
break;
}
printf("s%d", cnt);
cnt += 2;
fflush(stdout);
if (mV(s, 1, 1) != 0) {
perror("mV(1)");
break;
}
}
/* clean up semaphores */
if (msemrm(s) != 0) {
perror("msemrm");
}
return 0;
}
void VrmlGame::Draw3D( const GLWindow2 &glWindow, Map &map, SE3<> se3CfromW, GLuint fboId, GLenum *buffers, ATANCamera &mCamera, int statusFlag)
{
if(!mbInitialised) {
Init();
}
GetMatrixMP(map);
GLfloat temp_trans[] = {mP(0,0), mP(0,1), mP(0,2), mP(0,3), mP(1,0), mP(1,1), mP(1,2), mP(1,3), mP(2,0), mP(2,1), mP(2,2), mP(2,3), mP(3,0), mP(3,1), mP(3,2), mP(3,3)};
//add at 2.23
//读取阴影明暗变量
std::string filename = "variable.txt";
std::ifstream variableFile;
float shadowvariable;
int light_count;
variableFile.open(filename.c_str());
if (!variableFile)
{
cout << "can't open the variable file" <<endl;
}
variableFile>>shadowvariable;
variableFile>>light_count;
if (statusFlag != 2 )
{
//shadow
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, fboShadowId);
CheckFramebufferStatus();
glUseProgramObjectARB(0);
glViewport(0,0,RENDER_WIDTH*SHADOW_WAP_RATIO,RENDER_HEIGHT*SHADOW_WAP_RATIO);
glClear(GL_DEPTH_BUFFER_BIT);
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
//setup matrices
glEnable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45,RENDER_WIDTH/RENDER_HEIGHT,3,40000);
glDisable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glEnable(GL_NORMALIZE);
glEnable(GL_COLOR_MATERIAL);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0.0, 10.0, 0.0, -10.0, -100.0, 0.0, 0.0, 1.0, 0.0);
//消除自我阴影
glEnable(GL_CULL_FACE); //之前没有加这句话，所以Front没有被剔除
glCullFace(GL_FRONT);
DrawMediatorAndObject(statusFlag); //需要设置texture7
SetTextureMatrix(); //设置texture7
}
//add 12.8 draw virtual object
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT,fboId);
//ATTACHMENT0---TEX_BUFF1
CheckFramebufferStatus();
glViewport(0,0,RENDER_WIDTH,RENDER_HEIGHT);
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE); //
glDrawBuffer(GL_COLOR_ATTACHMENT0_EXT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//glDisable(GL_CULL_FACE);
//glCullFace(GL_BACK);
glEnable(GL_DEPTH_TEST);
// Set up 3D projection
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMultMatrix(mCamera.MakeUFBLinearFrustumMatrix(0.005, 100));
glMultMatrix(se3CfromW);
//opengl staff
glDisable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glEnable(GL_NORMALIZE);
glEnable(GL_COLOR_MATERIAL);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glMultMatrix(SE3<>());
glMultMatrixf(temp_trans);
phongShadow.UseShader(true);
glEnable(GL_TEXTURE_2D);
//if (statusFlag != 2 )
//{
//phongShadow.SetUniVar("xPixelOffset", 1.0f/ (640.0f* 2));
//phongShadow.SetUniVar("yPixelOffset", 1.0f/ (480.0f* 2));
phongShadow.SetSampler("ShadowMap",7);
glActiveTexture(GL_TEXTURE7);
glBindTexture(GL_TEXTURE_2D, depthTextureId);
//}
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
DrawMediatorAndObject(statusFlag);
//if (statusFlag != 2 )
//{
glActiveTexture(GL_TEXTURE7);
glBindTexture(GL_TEXTURE_2D, 0);
//}
glDisable(GL_TEXTURE_2D);
glDisable(GL_CULL_FACE);
phongShadow.UseShader(false);
////test shadow mapping
//貌似这段程序没法画出深度图，不过印象中之前可以的啊 ---2.23
/*glUseProgramObjectARB(0);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(-RENDER_WIDTH/2,RENDER_WIDTH/2,-RENDER_HEIGHT/2,RENDER_HEIGHT/2,1,20);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glColor4f(1,1,1,1);
glActiveTextureARB(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,depthTextureId);
glEnable(GL_TEXTURE_2D);
glTranslated(0,0,-1);
glBegin(GL_QUADS);
glTexCoord2d(0,0);glVertex3f(0,0,0);
glTexCoord2d(1,0);glVertex3f(RENDER_WIDTH/2,0,0);
glTexCoord2d(1,1);glVertex3f(RENDER_WIDTH/2,RENDER_HEIGHT/2,0);
glTexCoord2d(0,1);glVertex3f(0,RENDER_HEIGHT/2,0);
glEnd();
glDisable(GL_TEXTURE_2D);*/
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
}
//识别“标”，得到旋转平移矩阵
void VrmlGame::GetMatrixMP(Map &map)
{
if (!isInitMap)
{
std::cout<<"find mark...."<<std::endl;
mpMap = ↦
std::vector<std::vector<Wml::Vector2d> > all_points_2d;
detect_corners(std::string("./absolute.txt"),all_points_2d);
std::vector<Wml::Matrix4d> all_cameras;
std::vector<Wml::Matrix3d> all_Ks;
vector<KeyFrame *>::iterator kf;
int count = 1;
for( kf = mpMap->vpKeyFrames.begin(); kf != mpMap->vpKeyFrames.end(); kf++ )
{
int width = (*kf)->Camera.ImageSize()[0];
int height = (*kf)->Camera.ImageSize()[1];
TooN::Vector<5> params = (*kf)->Camera.GetParams();
Wml::Matrix3d K;
K(0,0) = width * params[0];
K(0,1) = 0;
K(0,2) = width * params[2];
K(1,0) = 0;
K(1,1) = height * params[1];
K(1,2) = height * params[3];
K(2,0) = 0;
K(2,1) = 0;
K(2,2) = 1;
if(count==1)
{
std::cout<<K(0,0)<<","<<K(1,1)<<","<<K(0,2)<<","<<K(1,2)<<std::endl;
}
all_Ks.push_back(K);
Wml::Matrix4d P;
P(0,3) = (*kf)->se3CfromW.get_translation()[0];
P(1,3) = (*kf)->se3CfromW.get_translation()[1];
P(2,3) = (*kf)->se3CfromW.get_translation()[2];
P(0,0) = (*kf)->se3CfromW.get_rotation().get_matrix()[0][0];
P(0,1) = (*kf)->se3CfromW.get_rotation().get_matrix()[0][1];
P(0,2) = (*kf)->se3CfromW.get_rotation().get_matrix()[0][2];
P(1,0) = (*kf)->se3CfromW.get_rotation().get_matrix()[1][0];
P(1,1) = (*kf)->se3CfromW.get_rotation().get_matrix()[1][1];
P(1,2) = (*kf)->se3CfromW.get_rotation().get_matrix()[1][2];
P(2,0) = (*kf)->se3CfromW.get_rotation().get_matrix()[2][0];
P(2,1) = (*kf)->se3CfromW.get_rotation().get_matrix()[2][1];
P(2,2) = (*kf)->se3CfromW.get_rotation().get_matrix()[2][2];
if(count==1)
{
std::cout<<P(0,3)<<","<<P(1,3)<<","<<P(2,3)<<","<<P(0,0)<<","<<P(0,1)<<","<<P(0,2)<<","<<P(1,0)<<","<<P(1,1)<<","<<P(1,2)<<","<<P(2,0)<<","<<P(2,1)<<","<<P(2,2)<<std::endl;
}
P(3,0) = 0;
P(3,1) = 0;
P(3,2) = 0;
P(3,3) = 1;
all_cameras.push_back(P);
count++;
}
std::vector<Wml::Vector3d> corners;
CRobust3DRecovery r3dr;
for (int i = 0; i < 4; ++ i)
{
std::vector<Wml::Vector2d> points_2d;
std::vector<Wml::Matrix4d> key_cameras;
std::vector<Wml::Matrix3d> key_Ks;
for (int f = 0; f < all_points_2d.size(); ++ f)
{
if (all_points_2d[f].size() > i)
{
points_2d.push_back(all_points_2d[f][i]);
key_cameras.push_back(all_cameras[f]);
key_Ks.push_back(all_Ks[f]);
}
}
if (points_2d.size() > 2)
{
Wml::Vector3d point_3d(0, 0, 0);
r3dr.generate(points_2d, key_cameras, key_Ks, point_3d, 3, 10.0, 10);
std::cout<<"3dpoint"<<i<<" = ["<<point_3d[0] << ", "<<point_3d[1] << ", "<<point_3d[2] << "]\n";
corners.push_back(point_3d);
}
}
if (corners.size() == 4)
{
Wml::Vector3d center(0.0, 0.0, 0.0);
for (int i = 0; i < corners.size(); ++ i)
{
center += corners[i];
}
center /= corners.size();
std::cout<<"center = ["<<center[0]<<", "<<center[1]<<", "<<center[2]<<","<<center[3]<<"]"<<std::endl;
//////////////////////////////////////////////////////////////////////////
Wml::Vector3d xaxis = corners[3] - corners[0];
Wml::Vector3d zaxis = corners[1] - corners[0];
Wml::Vector3d axis12 = corners[1] - corners[2];
Wml::Vector3d axis32 = corners[3] - corners[2];
// 坐标系尺度。
//double scale = 4.0/(xaxis.Length() + zaxis.Length() + axis12.Length() + axis32.Length());
double scale = (xaxis.Length() + zaxis.Length() + axis12.Length() + axis32.Length())/4.0;
//新坐标
Wml::Vector3d yaxis = zaxis.Cross(xaxis);
zaxis = xaxis.Cross(yaxis);
xaxis.Normalize();
yaxis.Normalize();
zaxis.Normalize();
//注意要scale的，不知道为什么，但是如果scale是用1代替的话，就会出现PTAMM地图大得话，导入的modle就会很大
//反之则会很小
Wml::Vector3d u(scale,0,0);
Wml::Vector3d v(0,scale,0);
Wml::Vector3d n(0,0,scale);
mP(0,0) = xaxis.Dot(u);
mP(0,1) = xaxis.Dot(v);
mP(0,2) = xaxis.Dot(n);
mP(1,0) = yaxis.Dot(u);
mP(1,1) = yaxis.Dot(v);
mP(1,2) = yaxis.Dot(n);
mP(2,0) = zaxis.Dot(u);
mP(2,1) = zaxis.Dot(v);
mP(2,2) = zaxis.Dot(n);
mP(0,3) = center[0];
mP(1,3) = center[1];
mP(2,3) = center[2];
mP(3,0) = 0;
mP(3,1) = 0;
mP(3,2) = 0;
mP(3,3) = 1;
}
isInitMap = true;
}
}
/**
* verbraucht einen Rohstoff einer Mine oder eines Brunnens
* an einer (umliegenden) Stelle.
*
* @author OLiver
*/
bool nofBuildingWorker::GetResources(unsigned char type)
{
//this makes granite mines work everywhere
if (type == 0 && GAMECLIENT.GetGGS().isEnabled(ADDON_INEXHAUSTIBLE_GRANITEMINES))
return true;
// in Map-Resource-Koordinaten konvertieren
type = RESOURCES_MINE_TO_MAP[type];
MapPoint mP(0, 0);
bool found = false;
// Alle Punkte durchgehen, bis man einen findet, wo man graben kann
if(GetResourcesOfNode(pos, type))
{
mP = pos;
found = true;
}
for(MapCoord tx = gwg->GetXA(pos, 0), r = 1; !found && r <= MINER_RADIUS; tx = gwg->GetXA(tx, pos.y, 0), ++r)
{
MapPoint t2(tx, pos.y);
for(unsigned int i = 2; !found && i < 8; ++i)
{
for(MapCoord r2 = 0; !found && r2 < r; t2 = gwg->GetNeighbour(t2, i % 6), ++r2)
{
if(GetResourcesOfNode(t2, type))
{
mP = t2;
found = true;
}
}
}
}
if(found)
{
// Minen / Brunnen unerschöpflich?
if( (type == 4 && GAMECLIENT.GetGGS().isEnabled(ADDON_EXHAUSTIBLE_WELLS)) ||
(type != 4 && !GAMECLIENT.GetGGS().isEnabled(ADDON_INEXHAUSTIBLE_MINES)) )
--gwg->GetNode(mP).resources;
return true;
}
// Hoffe das passt auch, Post verschicken, keine Rohstoffe mehr da
if (!OutOfRessourcesMsgSent)
{
if(GAMECLIENT.GetPlayerID() == this->player)
{
std::string error = _("This mine is exhausted");
if(workplace->GetBuildingType() == BLD_WELL)
error = _("This well is dried out");
GAMECLIENT.SendPostMessage(
new ImagePostMsgWithLocation(_(error), PMC_GENERAL, pos,
workplace->GetBuildingType(), workplace->GetNation())
);
}
OutOfRessourcesMsgSent = true;
// Produktivitätsanzeige auf 0 setzen
workplace->SetProductivityToZero();
// KI-Event erzeugen
GAMECLIENT.SendAIEvent(new AIEvent::Building(AIEvent::NoMoreResourcesReachable, workplace->GetPos(), workplace->GetBuildingType()), player);
}
// Hoffe das passt...
return false;
}
bool LineElement::drawMapElement(QPainter* targetP)
{
// Reset screen bounding box
sbBox = QRect();
// If the element-type should not be drawn in the actual scale, or if the
// element is not visible, return.
if( ! glConfig->isBorder(typeID) || ! isVisible())
{
return false;
}
// Do check load and drawing options
GeneralConfig *conf = GeneralConfig::instance();
switch( typeID )
{
case BaseMapElement::Forest:
if( conf->getMapLoadForests() == false )
{
return false;
}
break;
case BaseMapElement::Motorway:
if( conf->getMapLoadMotorways() == false )
{
return false;
}
break;
case BaseMapElement::Railway:
if( conf->getMapLoadRailways() == false )
{
return false;
}
break;
case BaseMapElement::Road:
if( conf->getMapLoadRoads() == false )
{
return false;
}
break;
case BaseMapElement::River:
if( conf->getMapLoadWaterways() == false )
{
return false;
}
break;
case BaseMapElement::City:
if( conf->getMapLoadCities() == false )
{
return false;
}
break;
default:
break;
}
QPolygon mP( glMapMatrix->map(projPolygon) );
// Save screen bounding box
sbBox = mP.boundingRect();
if(typeID == BaseMapElement::City)
{
// We do not draw the outline of the city directly, because otherwise
// we will get into trouble with cities lying at the edge of a
// map-section.
// @AP: Not clear what is meant.
targetP->setPen(glConfig->getDrawPen(typeID));
targetP->setBrush(glConfig->getDrawBrush(typeID));
targetP->drawPolygon(mP);
return true;
}
const QPen& drawP(glConfig->getDrawPen(typeID));
targetP->setPen(drawP);
if(closed)
{
// Lakes do not have a brush, because they are divided into normal
// sections and we do not want to see section borders in a lake ...
targetP->setBrush(glConfig->getDrawBrush(typeID));
targetP->drawPolygon(mP);
return true;
}
targetP->drawPolyline(mP);
if(typeID == BaseMapElement::Motorway && drawP.width() > 4)
{
// draw the white line in the middle
targetP->setPen( QPen(Qt::white, Layout::getIntScaledDensity()) );
targetP->drawPolyline(mP);
}
return true;
}
double
hyperd(N, K, n, k)
{
static mpq_t num, num2, den, q;
static mpq_t p2, t;
static mpf_t f;
static int first = 1;
double d;
double p;
if (first) {
mpq_init(num);
mpq_init(num2);
mpq_init(den);
mpq_init(q);
mpf_init(f);
mpq_init(p2);
mpq_init(t);
first = 0;
}
switch (hyperd_mode) {
case 0:
mP(&num, K, k);
mP(&p2, N - K, n - k);
mpq_mul(num2, num, p2);
mH(&p2, k + 1, n - k);
mpq_mul(num, num2, p2);
mP(&den, N, n);
mpq_div(q, num, den);
mpf_set_q(f, q);
d = mpf_get_d(f);
break;
case 1:
xx:
mC(&num2, K, k);
mC(&p2, N - K, n - k);
mpq_mul(num, num2, p2);
mC(&den, N, n);
mpq_div(q, num, den);
mpf_set_q(f, q);
d = mpf_get_d(f);
break;
case 2:
if (k == K || n - k == N - K || n == N) {
goto xx;
}
if (k == 0 || n - k == 0 || n == 0) {
goto xx;
}
p = (double)n / N;
d = dB(K, p, k) * dB(N - K, p, n - k) / dB(N, p, n);
if (d < 3e-14) {
goto xx;
}
break;
default:
fprintf(stderr, "internal error\n");
exit(1);
/* NOTREACHED */
}
return d;
}
MStatus CVstAimCmd::redoIt()
{
MStatus mStatus;
if ( !mStatus )
{
setResult( MString( "Cannot parse command line" ) + mStatus.errorString() );
return MS::kFailure;
}
if ( m_mArgDatabase->isFlagSet( kHelp ) )
{
PrintHelp();
}
else
{
// See if there are two object specified
MDagPath mDagPath;
MSelectionList optSelectionList;
// Validate specified items to whole dag nodes
{
MSelectionList tmpSelectionList;
m_mArgDatabase->getObjects( tmpSelectionList );
for ( MItSelectionList sIt( tmpSelectionList, MFn::kDagNode ); !sIt.isDone(); sIt.next() )
{
if ( sIt.getDagPath( mDagPath ) )
{
optSelectionList.add( mDagPath, MObject::kNullObj, true );
}
}
}
if ( m_mArgDatabase->isFlagSet( "create" ) || optSelectionList.length() >= 2 && m_mArgDatabase->numberOfFlagsUsed() == 0 )
{
// Error if there aren't at least two
if ( optSelectionList.length() < 2 )
{
displayError( GetName() + " needs at least two objects specified or selected when -create is used" );
return MS::kFailure;
}
// Get name command line arg
MString optName;
if ( m_mArgDatabase->isFlagSet( "name" ) )
{
m_mArgDatabase->getFlagArgument( "name", 0, optName );
}
m_undoable = true;
m_mDagModifier = new MDagModifier;
MObject vstAimObj( m_mDagModifier->MDGModifier::createNode( GetName() ) );
if ( m_mDagModifier->doIt() != MS::kSuccess )
{
displayError( MString( "Couldn't create " ) + GetName() + " node" );
m_mDagModifier->undoIt();
delete m_mDagModifier;
m_mDagModifier = NULL;
m_undoable = false;
return MS::kFailure;
}
m_mDagModifier->renameNode( vstAimObj, optName.length() ? optName : GetName() );
if ( m_mDagModifier->doIt() != MS::kSuccess )
{
if ( optName.length() )
{
displayWarning( MString( "Couldn't rename newly created vstNode \"" ) + optName + "\"" );
}
}
// Set options on the newly create vstAim node
MFnDependencyNode vstAimFn( vstAimObj );
MPlug sP;
MPlug dP;
if ( m_mArgDatabase->isFlagSet( kAim ) )
{
MVector aim;
m_mArgDatabase->getFlagArgument( kAim, 0, aim.x );
m_mArgDatabase->getFlagArgument( kAim, 1, aim.y );
m_mArgDatabase->getFlagArgument( kAim, 2, aim.z );
sP = vstAimFn.findPlug( "aimX" );
sP.setValue( aim.x );
sP = vstAimFn.findPlug( "aimY" );
sP.setValue( aim.y );
sP = vstAimFn.findPlug( "aimZ" );
sP.setValue( aim.z );
}
if ( m_mArgDatabase->isFlagSet( kUp ) )
{
MVector up;
m_mArgDatabase->getFlagArgument( kUp, 0, up.x );
m_mArgDatabase->getFlagArgument( kUp, 1, up.y );
m_mArgDatabase->getFlagArgument( kUp, 2, up.z );
sP = vstAimFn.findPlug( "upX" );
sP.setValue( up.x );
sP = vstAimFn.findPlug( "upY" );
sP.setValue( up.y );
sP = vstAimFn.findPlug( "upZ" );
sP.setValue( up.z );
}
// Now connect up the newly created vstAim node
MDagPath toAim;
optSelectionList.getDagPath( 1, toAim );
const MFnDagNode toAimFn( toAim );
if ( toAim.hasFn( MFn::kJoint ) )
{
MPlug joP( toAimFn.findPlug( "jointOrient" ) );
if ( !joP.isNull() )
{
MAngle jox, joy, joz;
joP.child( 0 ).getValue( jox );
joP.child( 1 ).getValue( joy );
joP.child( 2 ).getValue( joz );
if ( abs( jox.value() ) > FLT_EPSILON || abs( joy.value() ) > FLT_EPSILON || abs( joz.value() ) > FLT_EPSILON )
{
mwarn << "Joint orient on node being constrained is non-zero ( " << jox.asDegrees() << " " << joy.asDegrees() << " " << joz.asDegrees() << " ), setting to 0" << std::endl;
joP.child( 0 ).setValue( MAngle( 0.0 ) );
joP.child( 1 ).setValue( MAngle( 0.0 ) );
joP.child( 2 ).setValue( MAngle( 0.0 ) );
}
}
}
if ( toAim.hasFn( MFn::kTransform ) )
{
MPlug mP( toAimFn.findPlug( "rotateAxis" ) );
if ( !mP.isNull() )
{
MAngle rx, ry, rz;
mP.child( 0 ).getValue( rx );
mP.child( 1 ).getValue( ry );
mP.child( 2 ).getValue( rz );
if ( abs( rx.value() ) > FLT_EPSILON || abs( ry.value() ) > FLT_EPSILON || abs( rz.value() ) > FLT_EPSILON )
{
mwarn << "Rotate Axis on node being constrained is non-zero ( " << rx.asDegrees() << " " << ry.asDegrees() << " " << rz.asDegrees() << " ), setting to 0" << std::endl;
mP.child( 0 ).setValue( MAngle( 0.0 ) );
mP.child( 1 ).setValue( MAngle( 0.0 ) );
mP.child( 2 ).setValue( MAngle( 0.0 ) );
}
}
}
MDagPath aimAt;
optSelectionList.getDagPath( 0, aimAt );
const MFnDagNode aimAtFn( aimAt );
// toAim.rotateOrder -> vstAim.rotateOrder
sP = toAimFn.findPlug( "rotateOrder" );
dP = vstAimFn.findPlug( "rotateOrder" );
m_mDagModifier->connect( sP, dP );
// toAim.translate -> vstAim.translate
sP = toAimFn.findPlug( "translate" );
dP = vstAimFn.findPlug( "translate" );
m_mDagModifier->connect( sP, dP );
// toAim.parentMatrix[ instance ] -> vstAim.parentSpace
sP = toAimFn.findPlug( "parentMatrix" );
sP = sP.elementByLogicalIndex( toAim.instanceNumber() );
dP = vstAimFn.findPlug( "parentSpace" );
m_mDagModifier->connect( sP, dP );
// aimAt.worldMatrix[ instance ] -> vstAim.aimSpace
sP = aimAtFn.findPlug( "worldMatrix" );
sP = sP.elementByLogicalIndex( aimAt.instanceNumber() );
dP = vstAimFn.findPlug( "aimSpace" );
m_mDagModifier->connect( sP, dP );
// vstAim.rotation -> toAim.rotation
// These have to be connected individually because Maya plays stupid tricks
// with rotateOrder if they aren't
sP = vstAimFn.findPlug( "rotateX" );
dP = toAimFn.findPlug( "rotateX" );
m_mDagModifier->connect( sP, dP );
sP = vstAimFn.findPlug( "rotateY" );
dP = toAimFn.findPlug( "rotateY" );
m_mDagModifier->connect( sP, dP );
sP = vstAimFn.findPlug( "rotateZ" );
dP = toAimFn.findPlug( "rotateZ" );
m_mDagModifier->connect( sP, dP );
if ( m_mDagModifier->doIt() != MS::kSuccess )
{
displayWarning( MString( GetName() ) + ": Couldn't connect everything when creating" );
}
// Save the current selection just in case we want to undo stuff
MGlobal::getActiveSelectionList( m_mSelectionList );
MGlobal::select( vstAimObj, MGlobal::kReplaceList );
setResult( vstAimFn.name() );
}
else if ( m_mArgDatabase->isFlagSet( "select" ) )
{
MSelectionList mSelectionList;
MDagPath mDagPath;
for ( MItDag dagIt; !dagIt.isDone(); dagIt.next() )
{
if ( MFnDependencyNode( dagIt.item() ).typeName() == GetName() )
{
dagIt.getPath( mDagPath );
mSelectionList.add( mDagPath, MObject::kNullObj, true );
}
}
if ( mSelectionList.length() )
{
m_undoable = true;
// Save the current selection just in case we want to undo stuff
MGlobal::getActiveSelectionList( m_mSelectionList );
MGlobal::setActiveSelectionList( mSelectionList, MGlobal::kReplaceList );
}
}
else
{
displayError( GetName() + ": No valid operation specified via command line arguments\n" );
}
}
return MS::kSuccess;
}
int Pseudoinverse(
size_t m, size_t n,
const doublecomplex *A, size_t lda,
doublecomplex *P, size_t ldp
){
integer info;
CMat Acopy(Eigen::Map<const CMat,Eigen::Unaligned,Eigen::OuterStride<> >(A, m, n, Eigen::OuterStride<>(lda)));
Eigen::Map<CMat,Eigen::Unaligned,Eigen::OuterStride<> > mP(P, n, m, Eigen::OuterStride<>(ldp));
if(m >= n){ // tall case
RVec S(n);
CMat VH(n,n);
doublecomplex dum;
integer lwork = -1;
RVec rwork(5*n);
zgesvd_(
"O","A", m,n, Acopy.data(), Acopy.outerStride(),
S.data(), NULL, m, VH.data(), VH.outerStride(),
&dum, lwork, rwork.data(), &info
);
lwork = (integer)dum.real();
CVec work(lwork);
zgesvd_(
"O","A", m,n, Acopy.data(), Acopy.outerStride(),
S.data(), NULL, m, VH.data(), VH.outerStride(),
work.data(), lwork, rwork.data(), &info
);
mP = Acopy.adjoint();
{
double threshold = 2 * std::numeric_limits<double>::epsilon() * S[0];
for(size_t i = 0; i < n; ++i){
if(S[i] < threshold){
break;
}
S[i] = 1./S[i];
}
}
mP = VH.adjoint() * S.asDiagonal() * mP;
}else{ // wide case
RVec S(m);
CMat U(m,m);
doublecomplex dum;
integer lwork = -1;
RVec rwork(5*m);
zgesvd_(
"A","O", m,n, Acopy.data(), Acopy.outerStride(),
S.data(), U.data(), U.outerStride(), NULL, m,
&dum, lwork, rwork.data(), &info
);
lwork = (integer)dum.real();
CVec work(lwork);
zgesvd_(
"A","O", m,n, Acopy.data(), Acopy.outerStride(),
S.data(), U.data(), U.outerStride(), NULL, m,
work.data(), lwork, rwork.data(), &info
);
mP = Acopy.adjoint();
{
double threshold = 2 * std::numeric_limits<double>::epsilon() * S[0];
for(size_t i = 0; i < m; ++i){
if(S[i] < threshold){
break;
}
S[i] = 1./S[i];
}
}
mP = mP * S.asDiagonal() * U.adjoint();
}
return info;
}
