void MyGL::SceneLoadDialog()
{
QString filepath = QFileDialog::getOpenFileName(0, QString("Load Scene"), QString("../scene_files"), tr("*.xml"));
if(filepath.length() == 0)
{
return;
}
QFile file(filepath);
int i = filepath.length() - 1;
while(QString::compare(filepath.at(i), QChar('/')) != 0)
{
i--;
}
QStringRef local_path = filepath.leftRef(i+1);
//Reset all of our objects
scene.Clear();
integrator = Integrator();
intersection_engine = IntersectionEngine();
//Load new objects based on the XML file chosen.
xml_reader.LoadSceneFromFile(file, local_path, scene, integrator);
integrator.scene = &scene;
integrator.intersection_engine = &intersection_engine;
intersection_engine.scene = &scene;
update();
//intersection_engine.BuildBvhTree();
}
void AssignmentFour::RungeKuttaStreamline()
{
Vector4f color = makeVector4f(1, 0, 1, 1);
vector<Vector2f> path = Integrator(RKStep, &AssignmentFour::RK4, XStart, YStart);
DrawStreamline(path, color);
}
int main(void)
{
FILE *f;
int i;
int iteration;
double x[2];
double xx[2];
double t, dt;
dt = 0.05;
iteration=1000;
x[0] = 1.0; // q
x[1] = 0.0; // p
f = fopen("trajectory_symp2.dat","w");
for (i=0; i<iteration; i++) {
t = i*dt;
fprintf(f,"%lf %lf %lf %le\n", t, x[0], x[1], Hamiltonian(t,x[0],x[1]));
Integrator(Symplectic2, t,dt,x,xx);
x[0] = xx[0];
x[1] = xx[1];
}
fclose(f);
return 0;
}
void AssignmentFour::SeedingStreamLines()
{
viewer->clear();
if (DrawField) {
DrawVectorFieldHelper();
}
Vector4f color = makeVector4f(0.8f, 0.2f, 0.0f, 0.40f);
float32 minX = Field.boundMin()[0];
float32 maxX = Field.boundMax()[0];
float32 minY = Field.boundMin()[1];
float32 maxY = Field.boundMax()[1];
if (GridSeed) {
float32 dx = (maxX - minX) / GridPointsX;
float32 dy = (maxY - minY) / GridPointsY;
float32 x = minX;
for (int ix = 0; ix < GridPointsX; ++ix) {
float32 y = minY;
for (int iy = 0; iy < GridPointsY; ++iy) {
vector<Vector2f> path = Integrator(RKStep, &AssignmentFour::RK4, x, y);
DrawStreamline(path, color);
y += dy;
}
x += dx;
}
}
else {
int n = NumStreamLines;
for (int i = 0; i < n; ++i) {
float32 x = randomFloat(minX, maxX);
float32 y = randomFloat(minY, maxY);
vector<Vector2f> path = Integrator(RKStep, &AssignmentFour::RK4, x, y);
DrawStreamline(path, color);
}
}
viewer->refresh();
}
//--------------------------------------------------------------
void testApp::setup(){
ofSetVerticalSync(true);
//ofSetFrameRate(120);
ofHideCursor();
oscIn.setup(12345);
oscOut.setup("surya.local", 12346);
fftMax =0;
scale =100;
ofEnableSmoothing();
for(int i=0;i<10;i++){
line.addVertex(100,0);
line.addVertex(-100,0);
line.addVertex(0,-100);
}
ofEnableSmoothing();
saveFrame =false;
iRadius = Integrator(200,.2f,.2f);
a = Integrator(1,.2f,.2f);
b = Integrator(1,.2f,.2f);
m = Integrator(2,.2f,.2f);
n1 = Integrator(20,.2f,.2f);
n2 = Integrator(1,.2f,.2f);
n3 = Integrator(1,.2f,.2f);
stkWeight = Integrator(22,.2f,.2f);
// iRadius_ =200;
// a_ = 1;
// b_ = 1;
// m_ = 2;
// n1_ =20;
// n2_ = 1;
// n3_ = 1;
iRadius_ =170;
a_ = 0.24;
b_ = 0.34;
m_ = 11.92;
n1_ =12.81;
n2_ = -2.71;
n3_ = 2.46;
stkWeight_ = 3.5;
cam.enableMouseInput();
setupGUI();
setupShaper();
}
void AssignmentFour::EulerStreamline()
{
Vector4f color = makeVector4f(1, 1, 0, 1);
output << "Calculating integration points...";
vector<Vector2f> path = Integrator(EulerStep, &AssignmentFour::Euler, XStart, YStart);
output << "done\n";
output << "Drawing stream line...";
DrawStreamline(path, color);
output << "done\n";
}
void AssignmentFour::DistributionSeed() {
viewer->clear();
if (DrawField) {
DrawVectorFieldHelper();
}
Vector4f color = makeVector4f(0.8f, 0.2f, 0.0f, 0.40f);
vector<Vector2f> points = magnitudeDistribution(NumStreamLines);
for (size_t i = 0; i < points.size(); ++i) {
float32 x = points[i][0];
float32 y = points[i][1];
vector<Vector2f> path = Integrator(RKStep, &AssignmentFour::RK4, x, y);
DrawStreamline(path, color);
output << "x: " << x << "\ty:" << y << "\n";
}
//viewer->refresh();
}
void MyGL::SceneLoadDialog()
{
QString filepath = QFileDialog::getOpenFileName(0, QString("Load Scene"), QString("../scene_files"), tr("*.xml"));
if(filepath.length() == 0)
{
return;
}
QFile file(filepath);
int i = filepath.length() - 1;
while(QString::compare(filepath.at(i), QChar('/')) != 0)
{
i--;
}
QStringRef local_path = filepath.leftRef(i+1);
//Reset all of our objects
scene.Clear();
integrator = Integrator();
//delete existing bvh tree
clearTree(this->intersection_engine.BVHrootNode);
delete this->intersection_engine.BVHrootNode;
intersection_engine = IntersectionEngine();
//Load new objects based on the XML file chosen.
xml_reader.LoadSceneFromFile(file, local_path, scene, integrator);
integrator.scene = &scene;
integrator.intersection_engine = &intersection_engine;
intersection_engine.scene = &scene;
//create new tree with this new set of geometry!
this->intersection_engine.BVHrootNode = new BVHnode();
this->intersection_engine.BVHrootNode = createBVHtree(this->intersection_engine.BVHrootNode, this->scene.objects, 0);
update();
}
int main(int argc, char* argv[]) {
int nsteps;
Box box = Box(20.0);
Particles particles = Particles(400, 400, box);
Potential potential = Potential();
Integrator integrator = Integrator(0.0005);
std::ofstream file;
file.open("dump.lammpstrj");
Dump dump = Dump(100, &file);
std::ofstream file2;
file2.open("thermo.out");
Thermo thermo = Thermo(100, &file2);
if (argc != 2) {
std::cerr << "usage: " << argv[0] << " nsteps" << std::endl;
exit(1);
}
nsteps = atoi(argv[1]);
std::cout << "Initializing system..." << std::endl;
System sys = System(&box, &particles, &potential, &integrator, &dump, &thermo);
sys.run(nsteps);
}
Settings PhotonMapper(int sampleCount)
{
return Settings(Integrator("photonmapper", sampleCount > 32, sampleCount < 1),
Sampler("ldsampler", sampleCount));
}
Settings PathTracer(int sampleCount)
{
return Settings(Integrator("path", sampleCount > 32, sampleCount < 1),
Sampler("ldsampler", sampleCount));
}
Settings DirectIllumination(int sampleCount)
{
return Settings(Integrator("direct", sampleCount > 64, sampleCount < 1, "<integer name=\"bsdfSamples\" value=\"8\"/><integer name=\"luminaireSamples\" value=\"8\"/>"),
Sampler("ldsampler", sampleCount));
}
char* Player::update(char *input)
{
//p is a char pointer to a mSendBuff which is the data that will be sent to the other players, it maps the Input data
char *p=mSendBuff;
//Get Xinput State
XInputGetState(0,&gXInputState);
if(eUserType==USERTYPE_SERVER)
{
if(eCarState==CARSTATE_COLLIDED)
{
if(eCollisionType==COLLISIONTYPE_MUD)
{
decAcceleration(0.2);
p[4]='1';
eCarState=CARSTATE_MOVINGREVERSE;
}
if(eCollisionType==COLLISIONTYPE_OIL)
{
decAcceleration(0.2);
if(mPosition.x<(SCREEN_WIDTH/2))
yaw(-5,-0.3);
else
yaw(5,0.3);
eCarState=CARSTATE_MOVINGREVERSE;
p[4]='2';
}
if(eCollisionType==COLLISIONTYPE_PEDESTRIAN)
{
deaccelerate(15);
eCarState=CARSTATE_MOVINGREVERSE;
p[4]='3';
}
if(eCollisionType==COLLISIONTYPE_ROADBLOCK || eCollisionType==COLLISIONTYPE_NPCCAR)
{
mCurrentVelocity=0;
mCurrentBVelocity=0;
deaccelerate(50);
eCarState=CARSTATE_STOP;
p[4]='4';
}
eCollisionType=COLLISIONTYPE_NONE;
}
else
{
p[4]='0';
}
if(hge->Input_GetKeyState(HGEK_UP) || gXInputState.Gamepad.wButtons&XINPUT_GAMEPAD_A && eCollisionType!=COLLISIONTYPE_ROADBLOCK)
{
accelerate(1);
eCarState=CARSTATE_MOVING;
p[0]='6';
}
else
{
p[0]='0';
damp(1);
}
if(hge->Input_GetKeyState(HGEK_DOWN)||gXInputState.Gamepad.wButtons&XINPUT_GAMEPAD_X)
{
deaccelerate(1);
eCarState=CARSTATE_MOVING;
p[1]='7';
}
else
{
p[1]='0';
Bdamp(1);
}
if(hge->Input_GetKeyState(HGEK_LEFT) ||gXInputState.Gamepad.wButtons&XINPUT_GAMEPAD_DPAD_LEFT&& (eCarState==CARSTATE_MOVING || eCarState==CARSTATE_DAMPING))
{
yaw(-5,-0.3);
p[2]='8';
}
else
{
p[2]='0';
RLdamp();
}
if(hge->Input_GetKeyState(HGEK_RIGHT)||gXInputState.Gamepad.wButtons&XINPUT_GAMEPAD_DPAD_RIGHT && (eCarState==CARSTATE_MOVING || eCarState==CARSTATE_DAMPING))
{
yaw(5,0.3);
p[3]='9';
}
else
{
RRdamp();
p[3]='0';
}
/*char c[256];
sprintf(c,"send : %s \n",mSendBuff);
OutputDebugString(c);*/
sprintf(SpeedString,"Speed : %d ",(int)mCurrentVelocity);
//OutputDebugString(SpeedString);
Integrator();
p[5]='\0';
}
else if(eUserType==USERTYPE_CLIENT)
{
if(input[4]=='1')
{
//MUD COLLISION
decAcceleration(0.2);
eCarState=CARSTATE_MOVINGREVERSE;
}
if(input[4]=='2')
{
//OIL COLLISION
decAcceleration(0.2);
if(mPosition.x<(SCREEN_WIDTH/2))
yaw(-5,-0.3);
else
yaw(5,0.3);
eCarState=CARSTATE_MOVINGREVERSE;
}
if(input[4]=='3')
{
//PEDESTRIAN COLLISION
deaccelerate(15);
eCarState=CARSTATE_MOVINGREVERSE;
}
if(input[4]=='4')
{
//NPC CAR COLLISION
mCurrentVelocity=0;
mCurrentBVelocity=0;
deaccelerate(50);
eCarState=CARSTATE_STOP;
}
if(input[0]=='6' || hge->Input_GetKeyState(HGEK_W))
{
accelerate(1);
eCarState=CARSTATE_MOVING;
}
else
{
damp(1);
}
if(input[1]=='7')
{
deaccelerate(1);
eCarState=CARSTATE_MOVING;
}
else
{
Bdamp(1);
}
if(input[2]=='8'&&(eCarState==CARSTATE_MOVING || eCarState==CARSTATE_DAMPING))
{
yaw(-5,-0.3);
}
else
{
RLdamp();
}
if(input[3]=='9'&& (eCarState==CARSTATE_MOVING|| eCarState==CARSTATE_DAMPING))
{
yaw(5,0.3);
}
else
{
RRdamp();
}
Integrator();
}
return p;
}
void TwoDofController::setup(double _ke, double _tc, double _dt, unsigned int _range) {
ke = _ke; tc = _tc; dt = _dt;
integrator = Integrator(_dt, _range);
}
void TwoDofController::setup() {
ke = 0; tc = 0; dt = 0;
integrator = Integrator(0, 0);
}
void DirectMultipleShootingInternal::init() {
// Initialize the base classes
OCPSolverInternal::init();
// Create an integrator instance
std::string integrator_name = getOption("integrator");
integrator_ = Integrator(integrator_name, ffcn_, Function());
if (hasSetOption("integrator_options")) {
integrator_.setOption(getOption("integrator_options"));
}
// Set t0 and tf
integrator_.setOption("t0", 0);
integrator_.setOption("tf", tf_/nk_);
integrator_.init();
// Path constraints present?
bool path_constraints = nh_>0;
// Count the total number of NLP variables
int NV = np_ + // global parameters
nx_*(nk_+1) + // local state
nu_*nk_; // local control
// Declare variable vector for the NLP
// The structure is as follows:
// np x 1 (parameters)
// ------
// nx x 1 (states at time i=0)
// nu x 1 (controls in interval i=0)
// ------
// nx x 1 (states at time i=1)
// nu x 1 (controls in interval i=1)
// ------
// .....
// ------
// nx x 1 (states at time i=nk)
MX V = MX::sym("V", NV);
// Global parameters
MX P = V(Slice(0, np_));
// offset in the variable vector
int v_offset=np_;
// Disretized variables for each shooting node
vector<MX> X(nk_+1), U(nk_);
for (int k=0; k<=nk_; ++k) { // interior nodes
// Local state
X[k] = V[Slice(v_offset, v_offset+nx_)];
v_offset += nx_;
// Variables below do not appear at the end point
if (k==nk_) break;
// Local control
U[k] = V[Slice(v_offset, v_offset+nu_)];
v_offset += nu_;
}
// Make sure that the size of the variable vector is consistent with the
// number of variables that we have referenced
casadi_assert(v_offset==NV);
// Input to the parallel integrator evaluation
vector<vector<MX> > int_in(nk_);
for (int k=0; k<nk_; ++k) {
int_in[k].resize(INTEGRATOR_NUM_IN);
int_in[k][INTEGRATOR_P] = vertcat(P, U[k]);
int_in[k][INTEGRATOR_X0] = X[k];
}
// Input to the parallel function evaluation
vector<vector<MX> > fcn_in(nk_);
for (int k=0; k<nk_; ++k) {
fcn_in[k].resize(DAE_NUM_IN);
fcn_in[k][DAE_T] = (k*tf_)/nk_;
fcn_in[k][DAE_P] = vertcat(P, U.at(k));
fcn_in[k][DAE_X] = X[k];
}
// Options for the parallelizer
Dictionary paropt;
// Transmit parallelization mode
if (hasSetOption("parallelization"))
paropt["parallelization"] = getOption("parallelization");
// Evaluate function in parallel
vector<vector<MX> > pI_out = integrator_.callParallel(int_in, paropt);
// Evaluate path constraints in parallel
vector<vector<MX> > pC_out;
if (path_constraints)
pC_out = cfcn_.callParallel(fcn_in, paropt);
//Constraint function
vector<MX> gg(2*nk_);
// Collect the outputs
for (int k=0; k<nk_; ++k) {
//append continuity constraints
gg[2*k] = pI_out[k][INTEGRATOR_XF] - X[k+1];
// append the path constraints
if (path_constraints)
gg[2*k+1] = pC_out[k][0];
}
// Terminal constraints
MX g = vertcat(gg);
// Objective function
MX f;
if (mfcn_.getNumInputs()==1) {
f = mfcn_(X.back()).front();
} else {
vector<MX> mfcn_argin(MAYER_NUM_IN);
mfcn_argin[MAYER_X] = X.back();
mfcn_argin[MAYER_P] = P;
f = mfcn_.call(mfcn_argin).front();
}
// NLP
nlp_ = MXFunction(nlpIn("x", V), nlpOut("f", f, "g", g));
nlp_.setOption("ad_mode", "forward");
nlp_.init();
// Get the NLP creator function
std::string nlp_solver_name = getOption("nlp_solver");
// Allocate an NLP solver
nlp_solver_ = NlpSolver(nlp_solver_name, nlp_);
// Pass user options
if (hasSetOption("nlp_solver_options")) {
const Dictionary& nlp_solver_options = getOption("nlp_solver_options");
nlp_solver_.setOption(nlp_solver_options);
}
// Initialize the solver
nlp_solver_.init();
}
