void dsr::Entity::add(unsigned long int mentionid) {
update_velocity(true);
if (mentionid == 0) {
log_err("Bad error!: mentionid = 0, entity# %lu, %lu ", mentions.size(), count);
}
if (state == EntityState::NORMAL) {
mentions.push_back(mentionid);
++count;
++total_insertions;
init();
assert(mentions.back() != 0);
}
else if (state == EntityState::COMPRESSED) {
/* if (stringmap.find(mentionid) != stringmap.end()) {
stringmap[mentionid] += 1;
}
else {
stringmap[mentionid] = 1;
}
add_to_hll(mentionid);
*/
}
else if (state == EntityState::SORTED) {
// Can I do an insertion sort of something?
}
assert(count == mentions.size());
}
void planet::move(const vector<planet>& V) // change the position from the circles
{
update_velocity(V);
x=x+velocity_x;
y=y+velocity_y;
}
void dsr::Entity::remove (unsigned long int mentionid) {
update_velocity(false);
if (state == EntityState::NORMAL) {
if (mentions.size() == 1) {
assert(mentionid == mentions[0]);
mentions.pop_back();
++total_deletions;
--count;
}
else {
// Find where this mention is
auto ele = std::find(mentions.begin(), mentions.begin()+count, mentionid);
mentions[ele-mentions.begin()] = mentions.back();
mentions.pop_back();
init();
++total_deletions;
--count;
}
}
else if (state == EntityState::COMPRESSED) {
if (stringmap.find(mentionid) != stringmap.end()) {
if (stringmap[mentionid] == 0) {
stringmap.erase(mentionid);
}
else {
stringmap[mentionid] -= 1;
}
}
}
else if (state == EntityState::SORTED) {
// TODO
}
assert(count == mentions.size());
}
int pSim::Update()
{
#ifdef VERBOSE
update_log << "Update no contact" << endl;
#endif
#ifdef TIMING_CHECK
update_start_time = MPI_Wtime();
#endif
#ifdef PSIM_TEST
max_condition_number = -1.0;
max_sigma_ratio = -1.0;
max_condition_number_joint = 0;
max_sigma_ratio_joint = 0;
condition_numbers.resize(n_dof);
sigma_ratios.resize(n_dof);
condition_numbers.zero();
sigma_ratios.zero();
total_gamma_error = 0.0;
#endif
/**** assembly ****/
// position-dependent variables
update_position();
#if 1
if(do_connect)
{
//
// do collision computation if needed
//
update_collision();
// don't forget to recompute link velocities
CalcVelocity();
do_connect = false;
}
#endif
// velocity-dependent variables
update_velocity();
#ifdef TIMING_CHECK
cerr << "[" << rank << "] disassembly t = " << MPI_Wtime()-update_start_time << endl;
#endif
/**** disassembly ****/
disassembly();
#ifdef PSIM_TEST
cerr << "--- max condition number = " << max_condition_number << " at " << max_condition_number_joint->name << endl;
cerr << "--- max sigma ratio = " << max_sigma_ratio << " at " << max_sigma_ratio_joint->name << endl;
cerr << "--- total_gamma_error = " << total_gamma_error << endl;
// cerr << "condition_numbers = " << tran(condition_numbers) << endl;
// cerr << "sigma_ratios = " << tran(sigma_ratios) << endl;
#endif
#ifdef USE_MPI
// scatter results
scatter_acc();
#endif
return 0;
}
void update(float elapsed, TCOD_key_t k, TCOD_mouse_t mouse) {
get_from_UI(dens_prev,u_prev,v_prev,elapsed,k,mouse);
update_velocity(u,v,u_prev,v_prev,visc,elapsed);
update_density(dens,dens_prev,u,v,diff,elapsed);
}
void PlayerCar::backward()
{
update_velocity(-direction_ * 0.001f);
}
void PlayerCar::forward()
{
update_velocity(direction_ * 0.001f);
}
int main(){
///////////////////
//Initialize data//
///////////////////
time_t t;
int i,j,k;
int amount = 1000; // Amount of particles
int timesteps = 1000; // Amount of timesteps
int refresh = 10; // Amount of timesteps without updating neighbour list
double rc = 2.5; // Cutoff radius
double rv; // Neighborlist radius
double rho = 0.5; // Density
double m = 1; // Mass of particles
double region = pow((amount*m)/rho,1./3.); // Sidelength of region
double dt = 0.005; // Timestep
double kB = 1; // Boltzmannconstant
double g = 0; // Guiding factor
double T = 1; // Temperature
double sigma = sqrt((2*kB*T*g)/m); // Whitenoise factor
double sig = sqrt((kB*T)/m); // Initial velocity factor
double vmax; // Maximum velocity of particles
double kinetic; // Kinetic energy
double positions[amount][3]; // Particle positions
double velocities[amount][3]; // Particle velocities
double forces[amount][3]; // Particle forces
double amount_neighbors[amount]; // Amount of neighbors per particle
double ****neighbor; // Neighbor List
double *vel_sum; // For checking momentum conservation
XiEta rnd_XiEta[amount][3]; // Array of linear independent normally distributed numbers
srand((unsigned) time(&t)); // Set seed for random number generator
///////////////////////////
//Setup initial positions//
///////////////////////////
create_particles(positions, amount, region);
initial_velocities(velocities, sig, m, amount);
///////////////////////////////
//Allocate memory on the heap//
///////////////////////////////
neighbor = malloc(amount*sizeof(double ***));
if (neighbor){
for (i=0; i<amount; ++i){
neighbor[i] = malloc(amount*sizeof(double **));
if (neighbor[i]){
for (j=0; j<amount; ++j){
neighbor[i][j] = malloc(3*sizeof(double *));
if (!neighbor[i][j]){
printf("\nMemory allocation error!\n");
}
}
}
}
}
//////////////////
//Main algorithm//
//////////////////
printf("timestep\tsum velocity\tkinetic energy per particle\n");
for (i=0; i<timesteps; i++){
if (i%refresh==0){
vmax = sqrt(max_abs(velocities, amount));
rv = rc + refresh*vmax*dt;
update_neighborlist(neighbor, amount_neighbors, positions, rv, amount, region);
}
for (j=0; j<amount; j++){
for (k=0; k<3; k++){
rnd_XiEta[j][k] = normal_value(0,1);
}
}
calculate_force(forces, neighbor, positions, region, amount);
update_velocity(velocities, forces, dt, g, sigma, m, rnd_XiEta, amount);
update_position(positions, velocities, dt, sigma, rnd_XiEta, amount);
calculate_force(forces, neighbor, positions, region, amount);
update_velocity(velocities, forces, dt, g, sigma, m, rnd_XiEta, amount);
if (i%100==0){
vel_sum = sum_vel(velocities, amount);
kinetic = kinetic_energy(velocities, m, amount);
printf("%d\t\t%f\t%f\n", i, vel_sum[0]+vel_sum[1]+vel_sum[2], kinetic/amount);
}
}
////////////////////////////
//Clear memory on the heap//
////////////////////////////
for (i=0; i<amount; i++){
for (j=0; j<amount; j++){
free(neighbor[i][j]);
}
free(neighbor[i]);
}
free(neighbor);
return 0;
}
void update(lua_State *L, gaszone_type *gz, float elapsed) {
add_data(L, gz, gz->dens_prev, gz->u_prev, gz->v_prev, elapsed);
update_velocity(gz, gz->u, gz->v, gz->u_prev, gz->v_prev, gz->visc, elapsed);
update_density(gz, gz->dens, gz->dens_prev, gz->u, gz->v, gz->diff, elapsed);
}
void MonsterController::pre_step(GameState* gs) {
perf_timer_begin(FUNCNAME);
CollisionAvoidance& coll_avoid = gs->collision_avoidance();
PlayerInst* local_player = gs->local_player();
std::vector<EnemyOfInterest> eois;
players = gs->players_in_level();
//Update 'mids' to only hold live objects
std::vector<obj_id> mids2;
mids2.reserve(mids.size());
mids.swap(mids2);
for (int i = 0; i < mids2.size(); i++) {
EnemyInst* e = (EnemyInst*)gs->get_instance(mids2[i]);
if (e == NULL)
continue;
EnemyBehaviour& eb = e->behaviour();
eb.step();
//Add live instances back to monster id list
mids.push_back(mids2[i]);
int closest_player_index = find_player_to_target(gs, e);
if (eb.current_action == EnemyBehaviour::INACTIVE
&& e->cooldowns().is_hurting()) {
eb.current_action = EnemyBehaviour::CHASING_PLAYER;
}
if (closest_player_index == -1
&& eb.current_action == EnemyBehaviour::CHASING_PLAYER) {
eb.current_action = EnemyBehaviour::INACTIVE;
e->target() = NONE;
}
if (eb.current_action == EnemyBehaviour::CHASING_PLAYER)
eois.push_back(
EnemyOfInterest(e, closest_player_index,
inst_distance(e, players[closest_player_index])));
else if (eb.current_action == EnemyBehaviour::INACTIVE)
monster_wandering(gs, e);
else
//if (eb.current_action == EnemyBehaviour::FOLLOWING_PATH)
monster_follow_path(gs, e);
}
set_monster_headings(gs, eois);
//Update player positions for collision avoidance simulator
for (int i = 0; i < players.size(); i++) {
PlayerInst* p = players[i];
coll_avoid.set_position(p->collision_simulation_id(), p->x, p->y);
}
for (int i = 0; i < mids.size(); i++) {
EnemyInst* e = (EnemyInst*)gs->get_instance(mids[i]);
lua_State* L = gs->luastate();
lua_gameinst_callback(L, e->etype().step_event.get(L), e);
update_velocity(gs, e);
simul_id simid = e->collision_simulation_id();
coll_avoid.set_position(simid, e->rx, e->ry);
coll_avoid.set_preferred_velocity(simid, e->vx, e->vy);
}
coll_avoid.step();
for (int i = 0; i < mids.size(); i++) {
EnemyInst* e = (EnemyInst*)gs->get_instance(mids[i]);
update_position(gs, e);
}
perf_timer_end(FUNCNAME);
}
HRESULT ParticleSwarmOptimizer::run() {
// 1 - initialize member values
kinetic_penalty_normalization = 10.0f;
skin_difference_normalization = 20.0f;
max_OK_depth_difference = 4.0f;
min_OK_depth_difference = 1.0f;
epsilon = 1e-6f;
num_particles = 64;
num_generations = 20;
cognitive_weight = 2.8f;
social_weight = 1.3f;
RNG<float> rng;
cognitive_random_factor = rng.randRange(0.0f, 1.0f);
social_random_factor = rng.randRange(0.0f, 1.0f);
float psi = cognitive_weight + social_weight;
constriction_factor = 2.0f / static_cast<float>(fabs(2 - psi - sqrt((psi*psi) - (4*psi))));
// 2 - initialize particles
// first particle curr_sln = previous generation model's ansers
// everyone else = perturbations of previous generation's model
particles.resize( num_particles );
particles[0].curr_sln = initial_sln.get_params_without_bounds();
for ( unsigned int i = 1; i < particles.size(); i++ ) {
particles[i].curr_sln = particles[0].curr_sln;
perturb_particle( particles[i] );
}
best_sln = initial_sln.get_params_without_bounds();
// 3 - initialize the particle ID list for perturbation generation later
num_generations_to_perturb = 3;
for ( unsigned int i = 0; i < num_particles; i++ ) {
particles_to_perturb.push_back( i );
}
generation_best_particle = 0;
generation_min_error = 0.0f;
min_error = 0.0f;
// 4 - set up the matched depths map to work with
matched_depths.set_size( observed_depth.width, observed_depth.height );
// 2 - execute
// for each generation
// for each particle
// update velocty
// update position
// calculate error for this gen's solution
// render model using new solution
// calculate error between new render and o_d and o_s
// update best_sln for particle
// if error for this sln < best particle sln so far
// store this sln
// update best_sln for all particles
// find particle with min error this generation
// if that particle's error < global min error so far...
// if this gen % gens to perturb == 0
// randomly choose half of the particles
// for each randomly chosen particle
// randomly choose a finger joint
// set value for that parameter to values from valid range for that joint
// rof
// fi
// rof
// return solution stored in best_sln
// Each generation
for ( unsigned int i = 0; i < num_generations; i++ ) {
generation_best_particle = 0;
generation_min_error = FLT_MAX;
// Update each particle
for ( unsigned int curr_particle = 0; curr_particle < num_particles; curr_particle++ ) {
// Update particle velocity
if ( FAILED(update_velocity( particles[curr_particle] ) ) ) {
continue;
}
// Update particle position
if ( FAILED(update_position( particles[curr_particle] ) ) ) {
continue;
}
// Update particle error -- this renders the particle's
// parameters and compares the depth maps
if ( FAILED( update_particle_error( particles[curr_particle] ) ) ) {
continue;
}
// Update this generation's best particle
if ( particles[curr_particle].curr_error < generation_min_error ) {
generation_best_particle = curr_particle;
}
}
// update global best if pointer from this generation's updates is
// better on the errors
if ( FAILED( update_global_error() ) ) {
continue;
}
// Perturb some random particles to prevent swarm collapse
if ( num_generations_to_perturb % i == 0 ) {
if ( FAILED( pick_particles_to_perturb() ) ) {
continue;
}
for ( unsigned int curr_particle = 0; curr_particle < (num_particles / 2); curr_particle++ ) {
perturb_particle( particles[curr_particle] );
}
}
}
// The global best solution after all iterations is now stored in
// best_sln
return S_OK;
}
