BodyRigid::BodyRigid(const char* name, double const &mass, Mat3x3 const &inertia,
Vect3 const &pos, Quat const &q, Vect3 const &vel, Vect3 const &wl, bool const &fixed) :
Body(name,pos,q,vel,wl), m_mass(mass), m_inertia(inertia), m_fixed(fixed)
{
m_appliedForce = Vect3(0,0,0);
m_appliedTorque = Vect3(0,0,0);
/// initialize kanes method .... TODO site the page number this this shows up on
m_sAhat << 0.,0.,0.,0.,0.,0.;
m_sFhat << 0.,0.,0.,0.,0.,0.;
m_sIhat << 0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0;
m_n_alpha_t_k << 0,0,0;
m_n_a_t_k << 0,0,0;
// contact stuff
m_stiff = 0;
m_damp = 0;
m_frict = 0;
m_thresh = 0;
}
vec3_t *G2Exporter_Surface_GetVertNormal(int iSurfaceIndex, int iVertIndex, int iLODIndex)
{
static vec3_t v3={0};
memset(v3,0,sizeof(v3));
if (iLODIndex == giNumLODs-1)
{
// q3data surface...
//
if (iSurfaceIndex < giNumSurfaces)
{
// standard surface...
//
md3SurfaceData_t *pSurfaceData = GetMD3SurfaceData(iSurfaceIndex);
if (pSurfaceData)
{
// this logic is kinda gay, not sure why the *6 etc, but that's how other q3data code works, so...
//
float **ppVerts = pSurfaceData->verts;
memcpy(v3,(vec3_t*) &ppVerts[0][iVertIndex*6+3], sizeof(v3));
{
Matrix4 Swap;
Swap.Identity();
if (1)
{
Swap.SetRow(0,Vect3(0.0f,-1.0f,0.0f));
Swap.SetRow(1,Vect3(1.0f,0.0f,0.0f));
}
Swap.CalcFlags();
Vect3 v3In((const float *)v3);
static Vect3 v3Out;
Swap.XFormVect(v3Out,v3In);
return (vec3_t*) &v3Out;
}
}
}
else
{
// tag surface...
//
// I don't think tag-surfaces normals have any meaning for ghoul2, so...
//
return &v3;
}
}
else
{
// imported surface...
//
vec3_t &v3Src = ImportedModel.ImportedLODs[iLODIndex].ImportedSurfaces[ImportedModel.SurfaceIndexRemaps[iSurfaceIndex]].ImportedVerts[iVertIndex].normal;
memcpy(v3,v3Src,sizeof(v3));
return &v3;
}
assert(0);
return &v3;
}
PANEL(Vect3 P1, Vect3 P2, Vect3 P3, Vect3 P4) {
C1 = P1;
C2 = P2;
C3 = P3;
C4 = P4;
C1o = C1;
C2o = C2;
C3o = C3;
C4o = C4;
edgeX1 = edgeX2 = dF = Vect3(0.0);
Sigma = Mu = PhiWakePrev = 0.0;
Gamma = Phi = Sigma = Mu = 0.0;
Area = MaxDiagonal = Gamma = Vn = MuPrev = GammaPrev = 0.0;
Centroid = Vect3(.25 * (C1 + C2 + C3 + C4));
Owner = NULL;
OtherBoundarySurface = AttachedProtoWake = SheddingSurface = NULL;
Neighb = NULL;
Theta = 0.0;
isBound = isTop = isWake = false;
BoundBC = ID = -1;
TRANS.assign(3, Vect3(0.));
PhiPrev = Array <REAL> (4, 0.0);
Cloc = Rloc = 0.0;
Vfmm = dVFMM_dt = VWakePrev = Vect3(0.);
DoubletValidRange2 = ValidRange = 1e32;
GetNormal();
}
BodyRigid::BodyRigid( std::string const &name,
double const &mass,
vector<double> const &inertia,
vector<double> const &pos,
vector<double> const &q,
vector<double> const &vel,
vector<double> const &wl,
bool const &fixed ): Body(name), m_mass(mass), m_fixed(fixed)
{
m_inertia <<inertia[0], inertia[1], inertia[2],
inertia[3], inertia[4], inertia[5],
inertia[6], inertia[7], inertia[8];
Vect3 pos_;
pos_ << pos[0], pos[1], pos[2];
Quat q_(q[0], q[1], q[2], q[3]);
Vect3 vel_;
vel_ << vel[0], vel[1], vel[2];
Vect3 wl_;
wl_ << wl[0], wl[1], wl[2];
m_pos = pos_;
m_q = q_;
m_vel =vel_;
m_wl = wl_;
m_wldot = Vect3(0,0,0);
m_accel = Vect3(0,0,0);
m_appliedForce = Vect3(0,0,0);
m_appliedTorque = Vect3(0,0,0);
/// initialize kanes method .... TODO site the page number this this shows up on
m_sAhat << 0.,0.,0.,0.,0.,0.;
m_sFhat << 0.,0.,0.,0.,0.,0.;
m_sIhat << 0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0,
0,0,0,0,0,0;
m_n_alpha_t_k << 0,0,0;
m_n_a_t_k << 0,0,0;
// contact stuff
m_stiff = 0;
m_damp = 0;
m_frict = 0;
m_thresh = 0;
}
void trig_cone(Vect3 centre, Array <Vect3> &X, Array <Vect3> &Omega, REAL magnitude, REAL radius) {
for (int x = 1; x <= NX; ++x) {
for (int y = 1; y <= NY; ++y) {
REAL r = sqrt((centre.x - x)*(centre.x - x)+ (centre.y - y)*(centre.y - y));
if (r / radius < 1) {
Omega.push_back(Vect3(0., 0., magnitude * sin((pi * 0.5 * (1 + (r / radius))))));
X.push_back(Vect3(x, y, 0.));
}
}
}
}
void TIME_STEPPER::Euler(FVMCell * cell) {
for (int q = 0; q < SYSTEM::NumTransVars; ++q) {
cell->TransVars[q] += dt * cell->TransDerivs[q];
cell->TransDerivs[q] = Vect3(0.);
}
}
void cylinder_dipole(Vect3 centre, Array <Vect3> &X, Array <Vect3> &Omega, REAL offset, REAL amplitude, REAL radius) {
REAL c_cone[3] = {centre.x + offset, centre.x - offset, centre.y};
REAL r1 = 0, r2 = 0;
for (int x = 1; x <= 300; ++x) {
for (int y = 1; y <= 300; ++y) {
r1 = sqrt((c_cone[0] - x)*(c_cone[0] - x) + (c_cone[2] - y)*(c_cone[2] - y));
r2 = sqrt((c_cone[1] - x)*(c_cone[1] - x) + (c_cone[2] - y)*(c_cone[2] - y));
if (r1 <= radius) {
Omega.push_back(Vect3(0., 0., (0. * amplitude) - amplitude));
X.push_back(Vect3(x, y, 0.));
}
if (r2 <= radius) {
Omega.push_back(Vect3(0., 0., (0. * amplitude) + amplitude));
X.push_back(Vect3(x, y, 0.));
}
}
}
}
PANEL()
{
C1 = C2 = C3 = C4 = C1o = C2o = C3o = C4o = NC1 = NC2 = NC3 = NC4 = edgeX1 = edgeX2 = dF = Vect3(0.0);
Sigma = Mu = 0.0;
Gamma = Phi = PhiWakePrev = 0.0;
Area = MaxDiagonal = Sigma = Mu = Gamma = Vn = MuPrev = GammaPrev = 0.0;
Centroid = CollocationPoint = Vect3(.25 * (C1 + C2 + C3 + C4));
Owner = NULL;
OtherBoundarySurface = AttachedProtoWake = SheddingSurface = NULL;
Neighb = NULL;
Theta = 0.0;
isBound = isTop = isWake = false;
BoundBC = ID = -1;
TRANS.assign(3,Vect3(0.));
PhiPrev = Array <REAL> (4,0.0);
Cloc = Rloc = 0.0;
Vfmm = dVFMM_dt = VWakePrev = Vect3(0.);
DoubletValidRange2 = ValidRange = 1e32;
}
ParticleEmitter::ParticleEmitter( ParticleEmitterDesc p_particleDesc )
{
m_particleDesc = p_particleDesc;
m_nrOfDeadParticles = 0;
for (int i = 0; i < m_particleDesc.nrOfParticles; i++)
{
m_particleList.push_back(new Particle());
//l_lifeTime is between m_particleDesc.lifeTimeMin and m_particleDesc.lifeTimeMax
float l_lifeTime = m_particleDesc.lifeTimeMin + (float)rand()/((float)RAND_MAX/(m_particleDesc.lifeTimeMax-m_particleDesc.lifeTimeMin));
//l_speed is between m_particleDesc.speedMin and m_particleDesc.speedMax
float l_speed = m_particleDesc.speedMin + (float)rand()/((float)RAND_MAX/(m_particleDesc.speedMax-m_particleDesc.speedMin));
//Random x,y,z between -1 and 1
double xx = (double)rand()/((double)RAND_MAX*.5) - 1;
double yy = (double)rand()/((double)RAND_MAX*.5) - 1;
double zz = (double)rand()/((double)RAND_MAX*.5) - 1;
//Calculate magnitude of x,y,z
double vmag = sqrt((xx*xx)+(yy*yy)+(zz*zz));
//Normalize x,y,z
xx = xx/vmag;
yy = yy/vmag;
zz = zz/vmag;
//Voila! Random unit vector!
Vect3 l_direction = Vect3((float)xx, (float)yy, (float)zz);
//TODO calculate direction depending on what angles are set
m_particleList.at(i)->Init(m_particleDesc.position, m_particleDesc.scale, l_direction, m_particleDesc.acceleration, m_particleDesc.startColor, m_particleDesc.endColor, l_lifeTime, l_speed, 0.0f);
}
m_particleDataList.resize( m_particleList.size()*3 );
glGenVertexArrays( 1, &m_vao );
glBindVertexArray( m_vao );
glGenBuffers( 1, &m_dataBuffer );
glBindBuffer( GL_ARRAY_BUFFER, m_dataBuffer );
glBufferData( GL_ARRAY_BUFFER, m_particleDataList.size() * 3 * sizeof( float ), 0, GL_DYNAMIC_DRAW );
glEnableVertexAttribArray( 0 );
glEnableVertexAttribArray( 1 );
glEnableVertexAttribArray( 2 );
#define BUFFER_OFFSET( i ) ( ( char * )NULL + ( i ) )
glVertexAttribPointer( 0, 3, GL_FLOAT, GL_FALSE, 9 * sizeof( float ), BUFFER_OFFSET( 0 ) );
glVertexAttribPointer( 1, 3, GL_FLOAT, GL_FALSE, 9 * sizeof( float ), BUFFER_OFFSET( 3 * sizeof( float ) ) );
glVertexAttribPointer( 2, 3, GL_FLOAT, GL_FALSE, 9 * sizeof( float ), BUFFER_OFFSET( 6 * sizeof( float ) ) );
glBindVertexArray( 0 );
}
void lamb_dipole(Vect3 centre, Array <Vect3> &X, Array <Vect3> &Omega, REAL amplitude, REAL theta_dipole, REAL radius, REAL a, REAL k) {
// Produce a Lamb Dipole, eg
// lamb_dipole(Vect3(100, 50, 0), X, OMEGA, 30, pi / 2, 30, 30, 3.81 / 30);
REAL U;
for (int x = 1; x <= NX; ++x) {
for (int y = 1; y <= NY; ++y) {
U = 0.;
if (x < centre.x) U = -amplitude;
if (x > centre.x) U = amplitude;
REAL r = sqrt((centre[0] - x)*(centre[0] - x) + (centre[1] - y)*(centre[1] - y));
if (r < radius) {
REAL theta = atan2((centre[1] - y)*(centre[1] - y) + 1e-16, (centre[0] - x)*(centre[0] - x) + 1e-16);
REAL numerator = gsl_sf_bessel_J1(k * r);
REAL denominator = gsl_sf_bessel_J0(k * a);
Omega.push_back(Vect3(0.0, 0.0, -U * 2 * k * sin(theta - theta_dipole) * numerator / denominator));
X.push_back(Vect3((REAL) x, (REAL) y, 0.0));
}
}
}
}
Surf2VolMat::Surf2VolMat(const Geometry& geo, const Matrix& points)
{
std::map<const Domain, Vertices> m_points;
unsigned index = 0;
// Find the points per domain and generate the indices for the m_points
for ( unsigned i = 0; i < points.nlin(); ++i) {
const Domain domain = geo.domain(Vect3(points(i, 0), points(i, 1), points(i, 2)));
if ( domain.name() == "Air" ) {
std::cerr << " Surf2Vol: Point [ " << points.getlin(i);
std::cerr << "] is outside the head. Point is dropped." << std::endl;
} else {
m_points[domain].push_back(Vertex(points(i, 0), points(i, 1), points(i, 2), index++));
}
}
assemble_Surf2Vol(geo, *this, m_points);
}
void Paddle::Render()
{
m_renderComp->RenderObject(GetBoundingBox(), PADDLE, Vect3(1.0f, 1.0f, 0.0f)); //PADDLE == enum OH REALLY?!
}
vec3_t *G2Exporter_Surface_GetVertCoords(int iSurfaceIndex, int iVertIndex, int iLODIndex)
{
static vec3_t v3={0};
memset(&v3,0,sizeof(v3));
if (iLODIndex == giNumLODs-1)
{
// q3data surface...
//
if (iSurfaceIndex < giNumSurfaces)
{
// standard surface...
//
md3SurfaceData_t *pSurfaceData = GetMD3SurfaceData(iSurfaceIndex);
if (pSurfaceData)
{
// this logic is kinda gay, not sure why the *6 etc, but that's how other q3data code works, so...
//
float **ppVerts = pSurfaceData->verts;
static vec3_t v3;
for (int i=0; i<3; i++)
{
v3[i] = ppVerts[0][iVertIndex*6+i];// /MD3_XYZ_SCALE;
}
// return &v3;
Matrix4 Swap;
Swap.Identity();
if (1)
{
Swap.SetRow(0,Vect3(0.0f,-1.0f,0.0f));
Swap.SetRow(1,Vect3(1.0f,0.0f,0.0f));
}
Swap.CalcFlags();
Vect3 v3In((const float *)v3);
static Vect3 v3Out;
Swap.XFormVect(v3Out,v3In);
return (vec3_t*) &v3Out;
}
}
else
{
// tag surface...
//
assert(iVertIndex<3);
md3Tag_t *pTag = &g_data.tags[0][iSurfaceIndex - giNumSurfaces];
vec3_t v3New;
//#ifdef PERFECT_CONVERSION
v3New[0] = pTag->axis[0][iVertIndex] ;
v3New[1] = pTag->axis[1][iVertIndex] ;
v3New[2] = pTag->axis[2][iVertIndex] ;
// don't worry about how this crap works, it just does (arrived at by empirical methods... :-)
//
// (mega-thanks to Gil as usual)
//
if (iVertIndex==2)
{
VectorCopy(pTag->origin,v3);
}
else
if (iVertIndex==1)
{
v3New[0] = 2.0f * pTag->axis[1][iG2_TRISIDE_MIDDLE];
v3New[1] = -(2.0f * pTag->axis[0][iG2_TRISIDE_MIDDLE]);
v3New[2] = 2.0f * pTag->axis[2][iG2_TRISIDE_MIDDLE];
VectorSubtract(pTag->origin,v3New,v3);
}
else
{
v3New[0] = pTag->axis[1][iG2_TRISIDE_LONGEST];
v3New[1] = -pTag->axis[0][iG2_TRISIDE_LONGEST];
v3New[2] = pTag->axis[2][iG2_TRISIDE_LONGEST];
VectorSubtract(pTag->origin,v3New,v3);
}
// return (vec3_t*) &v3;
Matrix4 Swap;
Swap.Identity();
if (1)
{
Swap.SetRow(0,Vect3(0.0f,-1.0f,0.0f));
Swap.SetRow(1,Vect3(1.0f,0.0f,0.0f));
}
Swap.CalcFlags();
Vect3 v3In((const float *)v3);
static Vect3 v3Out;
Swap.XFormVect(v3Out,v3In);
return (vec3_t*) &v3Out;
}
}
else
{
// imported surface...
//
vec3_t &v3Src = ImportedModel.ImportedLODs[iLODIndex].ImportedSurfaces[ImportedModel.SurfaceIndexRemaps[iSurfaceIndex]].ImportedVerts[iVertIndex].vertCoords;
memcpy(v3,v3Src,sizeof(v3));
return &v3;
}
assert(0);
return &v3;
}
void BodyRigid::forceAccumReset()
{
m_appliedForce = Vect3(0,0,0);
m_appliedTorque = Vect3(0,0,0);
}
int ProcNKeys(TxtNode *t,int& foundkeys)
{
if (t->child)
{
TxtNode *sib=t->child;
if (!sib->text)
return 207;
int tp=myatoi(sib->text,sib->length);
sib=sib->sibling;
if (!sib||!sib->text)
return 208;
int num=myatoi(sib->text,sib->length);
sib=sib->sibling;
int i;
int lastframe=startframe-1;
TxtNode *s=sib;
for (i=0;i<num;i++)
{
if (!s||!s->text)
return 110;
int frame=myatoi(s->text,s->length);
if (frame>33000)
frame=frame-65536;
if (frame<startframe)
{
assert(!i);
lastframe=frame-1;
startframe=frame;
}
if (frame>endframe)
endframe=frame;
if (frame-startframe>maxmatframe)
maxmatframe=frame-startframe;
s=s->sibling;
if (!s||!s->text)
return 212;
int junk=myatoi(s->text,s->length);
if (junk!=3)
return 213;
s=s->sibling;
if (!s||!s->text)
return 216;
float x=(float)myatof(s->text,s->length);
s=s->sibling;
if (!s||!s->text)
return 216;
float y=(float)myatof(s->text,s->length);
s=s->sibling;
if (!s||!s->text)
return 216;
float z=(float)myatof(s->text,s->length);
s=s->sibling;
int k;
if (tp==1) //scale
{
Vect3 v=Vect3(x,z,y);
for (k=lastframe+1;k<=frame;k++)
scales[k-startframe]=v;
foundkeys|=4;
}
else if (tp==2) //translation
{
Vect3 v(x,-z,y);
for (k=lastframe+1;k<=frame;k++)
{
mats[k-startframe].SetRow(3,v);
mats[k-startframe].CalcFlags();
}
foundkeys|=1;
}
else if (tp==3) //rotation
{
Matrix4 tmp;
tmp.Rotate(-x*M_PI/180.0f,-y*M_PI/180.0f,-z*M_PI/180.0f);
Vect3 t,tt;
tmp.GetRow(2,t);
t*=-1.0f;
tmp.GetRow(1,tt);
tmp.SetRow(2,tt);
tmp.SetRow(1,t);
for (k=0;k<3;k++)
{
float tt=-tmp[k][2];
tmp[k][2]=tmp[k][1];
tmp[k][1]=tt;
}
for (k=lastframe+1;k<=frame;k++)
{
int l;
for (l=0;l<3;l++)
{
tmp.GetRow(l,t);
mats[k-startframe].SetRow(l,t);
mats[k-startframe].CalcFlags();
}
}
foundkeys|=2;
}
lastframe=frame;
}
}
return 0;
}
void TIME_STEPPER::DoFMM() {
int nt = 100;
for (int I = 0; I < BODY::Bodies.size(); ++I) {
Array <REAL> times = UTIL::globalLinspace(BODY::Time, BODY::Time + 1.1*dt, nt); // max timestep change permitted is +- 5%
Array <Vect3> EulerHist;
Vect3 EulerAnglesTplusDT = UTIL::ODE4(BODY::EulerDot, times, EulerHist, BODY::Bodies[I]->EulerAngles, BODY::Bodies[I]->BodyRates);
for (int i = 0; i < BODY::Bodies[I]->Faces.size(); ++i) {
BODY::Bodies[I]->Faces[i].XP1 = BODY::Bodies[I]->Faces[i].CollocationPoint;
Vect3 MinX = BODY::Bodies[I]->Faces[i].CollocationPoint, MaxX = BODY::Bodies[I]->Faces[i].CollocationPoint;
for (int t = 0; t < nt; ++t) {
Vect3 CGTplusDT = BODY::Bodies[I]->CG0 + times[t] * BODY::Bodies[I]->Velocity;
Array <Vect3> TRANS = BODY::ReturnTrans(EulerHist[t]);
Vect3 C1 = CGTplusDT + VectMultMatrix(TRANS, BODY::Bodies[I]->Faces[i].C1o - BODY::Bodies[I]->CG0);
Vect3 C2 = CGTplusDT + VectMultMatrix(TRANS, BODY::Bodies[I]->Faces[i].C2o - BODY::Bodies[I]->CG0);
Vect3 C3 = CGTplusDT + VectMultMatrix(TRANS, BODY::Bodies[I]->Faces[i].C3o - BODY::Bodies[I]->CG0);
Vect3 C4 = CGTplusDT + VectMultMatrix(TRANS, BODY::Bodies[I]->Faces[i].C4o - BODY::Bodies[I]->CG0);
Vect3 Xp = 0.25 * (C1 + C2 + C3 + C4);
BODY::Bodies[I]->Faces[i].XP2 = Xp;
MinX = min(MinX, Xp);
MaxX = max(MaxX, Xp);
}
REAL Buffer = 1.0;
MaxX += Vect3(Buffer, Buffer, Buffer);
MinX -= Vect3(Buffer, Buffer, Buffer);
MinX = floor(MinX) - 0.5;
MaxX = ceil(MaxX) + 0.5;
int DX = int((MaxX.x) - (MinX.x));
int DY = int((MaxX.y) - (MinX.y));
int DZ = int((MaxX.z) - (MinX.z));
BODY::Bodies[I]->Faces[i].Xp = Array < Array < Array <Vect3*> > > (DX, Array < Array < Vect3*> > (DY, Array <Vect3*> (DZ, NULL)));
BODY::Bodies[I]->Faces[i].Vp = Array < Array < Array <Vect3*> > > (DX, Array < Array < Vect3*> > (DY, Array <Vect3*> (DZ, NULL)));
for (int a = 0; a < DX; ++a)
for (int b = 0; b < DY; ++b)
for (int c = 0; c < DZ; ++c) {
OctreeCapsule C(MinX + Vect3(1.0 * a, 1.0 * b, 1.0 * c), Vect3(0, 0, 0), false);
C.toMonitor = true;
globalOctree->Root->EvalCapsule(C);
// Any nodes which are created in this step are NOT included in the FVM calculation, and can safely be removed after the FMM/Panel vel calcs...
BODY::Bodies[I]->Faces[i].Vp[a][b][c] = C.Ptr2CellVelocity;
BODY::Bodies[I]->Faces[i].Xp[a][b][c] = C.Ptr2CellPosition;
}
}
}
//
// for (int i = 0; i < BODY::AllBodyFaces.size(); ++i) {
// Vect3 Xp = BODY::AllBodyFaces[i]->CollocationPoint;
// {
// Vect3 OwnerCG = BODY::AllBodyFaces[i]->Owner->CG;
// Vect3 OwnerVel = BODY::AllBodyFaces[i]->Owner->Velocity;
// Vect3 OwnerRates = BODY::AllBodyFaces[i]->Owner->BodyRates;
//
// Vect3 MinX = Xp, MaxX = Xp;
//
// for (int nt = 1; nt < 100; ++nt) {
// Vect3 PanelVel = OwnerVel + OwnerRates.Cross(Xp - OwnerCG);
//
// OwnerCG += OwnerVel * dt / 100;
//
// Xp += dt * PanelVel / 100;
//
// MinX = min(MinX, Xp);
// MaxX = max(MaxX, Xp);
// }
//
//
//
//
// REAL Buffer = 1.0;
// MaxX += Vect3(Buffer, Buffer, Buffer);
// MinX -= Vect3(Buffer, Buffer, Buffer);
//
// MinX = floor(MinX) - 0.5;
// MaxX = ceil(MaxX) + 0.5;
//
// int DX = int((MaxX.x) - (MinX.x));
// int DY = int((MaxX.y) - (MinX.y));
// int DZ = int((MaxX.z) - (MinX.z));
//
// BODY::AllBodyFaces[i]->Xp = Array < Array < Array <Vect3*> > > (DX, Array < Array < Vect3*> > (DY, Array <Vect3*> (DZ, NULL)));
// BODY::AllBodyFaces[i]->Vp = Array < Array < Array <Vect3*> > > (DX, Array < Array < Vect3*> > (DY, Array <Vect3*> (DZ, NULL)));
//
// for (int a = 0; a < DX; ++a)
// for (int b = 0; b < DY; ++b)
// for (int c = 0; c < DZ; ++c) {
// OctreeCapsule C(MinX + Vect3(1.0 * a, 1.0 * b, 1.0 * c), Vect3(0, 0, 0), false);
// C.toMonitor = true;
// globalOctree->Root->EvalCapsule(C);
// // Any nodes which are created in this step are NOT included in the FVM calculation, and can safely be removed after the FMM/Panel vel calcs...
// BODY::AllBodyFaces[i]->Vp[a][b][c] = C.Ptr2CellVelocity;
// BODY::AllBodyFaces[i]->Xp[a][b][c] = C.Ptr2CellPosition;
// }
//
//
//
// }
// }
globalOctree->ResetAllVelsAndFields();
globalOctree->UpdateLists();
globalOctree->GetVels();
}
void TIME_STEPPER::TimeAdvance() {
#ifdef USE_SWSS
// This is a SWSS
// First
TIME_STEPPER::RKStep = 0;
// t0: Calc FMM and get DT
#ifndef NOFMM
if (globalSystem->useFMM)
DoFMM();
else {
for (int i = 0; i < FVMCell::AllCells.size(); ++i) {
FVMCell::AllCells[i]->Velocity = globalSystem->unscaledVinf * SYSTEM::GambitScale;
}
}
#else
#pragma omp parallel for
for (int i = 0; i < FVMCell::AllCells.size(); ++i) {
FVMCell::AllCells[i]->Velocity = 0.0;
FVMCell::AllCells[i]->VelGrads[0] = FVMCell::AllCells[i]->VelGrads[1] = FVMCell::AllCells[i]->VelGrads[2] = Vect3(0.0);
for (int j = 0; j < FVMCell::AllCells.size(); ++j) {
Vect3 D = FVMCell::AllCells[j]->Position - FVMCell::AllCells[i]->Position;
FVMCell::AllCells[i]->Velocity += UTIL::globalDirectVel(D, FVMCell::AllCells[j]->Omega);
directGradMethod(D, FVMCell::AllCells[j]->Omega, FVMCell::AllCells[i]->VelGrads);
}
}
#endif
// t0: calculate face velocities due to body
globalSystem->GetFaceVels();
// t0: calculate face velocities due to body
time_step();
// t0: get panel FMM Vels
#ifndef NOFMM
if (globalSystem->useBodies) {
globalSystem->GetPanelFMMVelocities(dt);
// t0: get time derivatives at t0
// t0: advance innter (body) timestep
if (TIME_STEPPER::RK2Mode)
BODY::BodySubStep(dt / 2.0, globalSystem->NumSubSteps);
else
BODY::BodySubStep(dt, globalSystem->NumSubSteps);
}
#endif
/* Order of integrations is as follows:
* 0) Panel
* 1) stretch
* 2) diffuse
* 3) O2x
* 4) O2y
* 5) O2z
*
*
* Other sweep is reverse
*/
// Record initial vals
for (int i = 0; i < FVMCell::AllCells.size(); ++i) {
FVMCell::AllCells[i]->VelHold = FVMCell::AllCells[i]->Velocity; // this is done in vCollapseVelField
FVMCell::AllCells[i]->VelGradsHold = FVMCell::AllCells[i]->VelGrads; // this is done in vCollapseVelField
for (int q = 0; q < SYSTEM::NumTransVars; ++q)
FVMCell::AllCells[i]->TransVarsHold[q] = FVMCell::AllCells[i]->TransVars[q];
FVMCell::AllCells[i]->OmegaHold = FVMCell::AllCells[i]->Omega;
}
if (globalSystem->useFMM) {
globalOctree->DiffuseZAndAdvance(dt);
globalOctree->StretchAndAdvance(dt);
globalOctree->DiffuseYAndAdvance(dt);
}
globalOctree->O2UWxAndAdvance(dt);
globalOctree->O2UWyAndAdvance(dt);
globalOctree->O2UWzAndAdvance(dt);
if (globalSystem->useFMM)
globalOctree->DiffuseXAndAdvance(dt);
// Second sweep
// Reset initial values -- VelHold is still unchanged - can be reused; same with its gradients
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < FVMCell::AllCells.size(); ++i) {
for (int q = 0; q < SYSTEM::NumTransVars; ++q) {
FVMCell::AllCells[i]->TransVars0[q] = FVMCell::AllCells[i]->TransVars[q];
FVMCell::AllCells[i]->TransVars[q] = FVMCell::AllCells[i]->TransVarsHold[q];
}
FVMCell::AllCells[i]->Velocity = FVMCell::AllCells[i]->VelHold;
FVMCell::AllCells[i]->VelGrads = FVMCell::AllCells[i]->VelGradsHold;
FVMCell::AllCells[i]->Omega = FVMCell::AllCells[i]->OmegaHold;
}
if (globalSystem->useFMM)
globalOctree->DiffuseXAndAdvance(dt);
globalOctree->O2UWzAndAdvance(dt);
globalOctree->O2UWyAndAdvance(dt);
globalOctree->O2UWxAndAdvance(dt);
if (globalSystem->useFMM) {
globalOctree->DiffuseYAndAdvance(dt);
globalOctree->StretchAndAdvance(dt);
globalOctree->DiffuseZAndAdvance(dt);
}
for (int i = 0; i < FVMCell::AllCells.size(); ++i) {
FVMCell::AllCells[i]->Omega = Vect3(0.0);
for (int q = 0; q < SYSTEM::NumTransVars; ++q) {
Vect3 VarTmp = FVMCell::AllCells[i]->TransVars[q];
FVMCell::AllCells[i]->TransVars [q] = 0.5 * (FVMCell::AllCells[i]->TransVars0[q] + VarTmp);
FVMCell::AllCells[i]->Omega += FVMCell::AllCells[i]->TransVars[q];
}
}
#else
// t0: get cell velocities/gradients etc.
DoFMM();
// t0: calculate face velocities due to body
globalSystem->GetFaceVels();
// t0: calculate timestep length (use last values of panel singularity strengths for body influence)
time_step();
// t0: get panel FMM Vels
// if (globalSystem->useBodies)
// globalSystem->GetPanelFMMVelocities(0.0);
//
globalSystem->GetFaceVels();
FVMCell::CellDerivs.allocate(SYSTEM::NumTransVars);
for (int q = 0; q < SYSTEM::NumTransVars; ++q) {
FVMCell::CellDerivs[q] = Array <Vect3> (FVMCell::AllCells.size());
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < FVMCell::AllCells.size(); ++i) {
FVMCell::CellDerivs[q][i] = FVMCell::AllCells[i]->O2UW(q);
FVMCell::CellDerivs[q][i] += FVMCell::AllCells[i]->Stretch(q);
// FVMCell::CellDerivs[q][i] += FVMCell::AllCells[i]->Diffuse(q);
}
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < FVMCell::AllCells.size(); ++i)
FVMCell::AllCells[i]->TransVars[q] += dt * FVMCell::CellDerivs[q][i];
}
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < FVMCell::AllCells.size(); ++i)
FVMCell::AllCells[i]->NormaliseObliterate();
// Update cell velocities to reflect new cell omegas
#ifdef _OPENMP
#pragma omp parallel for
#endif
for (int i = 0; i < FVMCell::AllCells.size(); ++i)
FVMCell::AllCells[i]->GetISAVels();
// Now update Panel FMM Vels to reflect new velocities then advance over timestep
if (globalSystem->useBodies) {
globalSystem->GetPanelFMMVelocities(dt);
BODY::BodySubStep(dt, globalSystem->NumSubSteps);
}
// if (TIME_STEPPER::RK2Mode) {
// TIME_STEPPER::RKStep = 1;
// // t*: Do the FMM again
// DoFMM();
// if (globalSystem->useBodies) {
// globalSystem->GetPanelFMMVelocities(dt / 2);
// BODY::BodySubStep(dt / 2.0, globalSystem->NumSubSteps); // t = t0 -> t*
// // t*: calculate face velocities due to body
// }
// globalSystem->GetFaceVels();
// // t*: calculate gradients at t*
// globalOctree->FVM(); // dom_dt(t*)
// // t*: advance to t1
// globalOctree->Integrate(); // t = t0 -> t1
// }
#endif
// Put the wake in the tree from the bodytimestep
if (globalSystem->useBodies) {
globalSystem->PutWakesInTree();
} else
TIME_STEPPER::SimTime += dt;
// Clean up
if (!fmod((REAL) n, 25.0))
PruneNow = true;
globalOctree->Reset();
}
