void Leapfrog::doKineticEnergy(const shared_ptr<Node>& node, const Vector3r& pprevFluctVel, const Vector3r& pprevFluctAngVel, const Vector3r& linAccel, const Vector3r& angAccel){
const DemData& dyn(node->getData<DemData>());
if(dyn.isEnergySkip()) return;
/* kinetic and potential energy is non-incremental, therefore is evaluated on-step */
// note: angAccel is zero for aspherical particles; in that case, mid-step value is used
Vector3r currFluctVel(pprevFluctVel+.5*dt*linAccel), currFluctAngVel(pprevFluctAngVel+.5*dt*angAccel);
// kinetic energy
Real Etrans=.5*dyn.mass*currFluctVel.squaredNorm();
Real Erot;
// rotational terms
if(dyn.isAspherical()){
Matrix3r mI(dyn.inertia.asDiagonal());
Matrix3r T(node->ori);
Erot=.5*currFluctAngVel.transpose().dot((T.transpose()*mI*T)*currFluctAngVel);
} else { Erot=0.5*currFluctAngVel.dot((dyn.inertia.array()*currFluctAngVel.array()).matrix()); }
if(isnan(Erot) || isinf(dyn.inertia.maxCoeff())) Erot=0;
if(!kinSplit) scene->energy->add(Etrans+Erot,"kinetic",kinEnergyIx,EnergyTracker::IsResettable);
else{
scene->energy->add(Etrans,"kinTrans",kinEnergyTransIx,EnergyTracker::IsResettable);
scene->energy->add(Erot,"kinRot",kinEnergyRotIx,EnergyTracker::IsResettable);
// cerr<<"*E+: "<<Etrans<<" (v="<<currFluctVel<<", a="<<linAccel<<", v="<<pprevFluctVel<<")"<<endl;
}
}
int LinearRegressorTrainer::Train (ClassifierABC* pMachine)
{
LinearRegressor* pRegressor = (LinearRegressor*)pMachine;
int i;
Mat mB(m_pmData->Cols(), m_pmData->Cols(), MAT_Tdouble);
MatOp::TrAA(&mB, m_pmData);
LUDecomposition lu(&mB);
Mat mI(m_pmData->Cols(), m_pmData->Cols(), MAT_Tdouble);
mI.Zero();
for (i = 0; i < mI.Rows(); i ++)
mI.data.db[i][i] = 1.0;
Mat* pmInverse = lu.Solve (&mI);
if (pmInverse==0)
return 0;
Mat mTemp(m_pmData->Cols(), m_pmData->Rows(), MAT_Tdouble);
Mat mTr(m_pmData->Cols(), m_pmData->Rows(), MAT_Tdouble);
MatOp::Transpose (&mTr, m_pmData);
MatOp::Mul(&mTemp, pmInverse, &mTr);
pRegressor->m_vCoeff.Create (m_pmData->Cols(), MAT_Tfloat);
Vec vRet(m_pmData->Cols(), MAT_Tdouble);
MatOp::Mul(&vRet, &mTemp, m_pvObj);
for (i = 0; i < vRet.Length(); i ++)
pRegressor->m_vCoeff.data.fl[i] = (float)vRet.data.db[i];
ReleaseMat(pmInverse);
mTemp.Release();
mTr.Release();
mI.Release();
mB.Release();
return 1;
}
antlr::RefToken FMTLexer::nextToken()
{
antlr::RefToken theRetToken;
for (;;) {
antlr::RefToken theRetToken;
int _ttype = antlr::Token::INVALID_TYPE;
resetText();
try { // for lexical and char stream error handling
switch ( LA(1)) {
case 0x22 /* '\"' */ :
case 0x27 /* '\'' */ :
{
mSTRING(true);
theRetToken=_returnToken;
break;
}
case 0x28 /* '(' */ :
{
mLBRACE(true);
theRetToken=_returnToken;
break;
}
case 0x29 /* ')' */ :
{
mRBRACE(true);
theRetToken=_returnToken;
break;
}
case 0x2f /* '/' */ :
{
mSLASH(true);
theRetToken=_returnToken;
break;
}
case 0x2c /* ',' */ :
{
mCOMMA(true);
theRetToken=_returnToken;
break;
}
case 0x41 /* 'A' */ :
case 0x61 /* 'a' */ :
{
mA(true);
theRetToken=_returnToken;
break;
}
case 0x3a /* ':' */ :
{
mTERM(true);
theRetToken=_returnToken;
break;
}
case 0x24 /* '$' */ :
{
mNONL(true);
theRetToken=_returnToken;
break;
}
case 0x46 /* 'F' */ :
case 0x66 /* 'f' */ :
{
mF(true);
theRetToken=_returnToken;
break;
}
case 0x44 /* 'D' */ :
case 0x64 /* 'd' */ :
{
mD(true);
theRetToken=_returnToken;
break;
}
case 0x45 /* 'E' */ :
case 0x65 /* 'e' */ :
{
mE(true);
theRetToken=_returnToken;
break;
}
case 0x47 /* 'G' */ :
case 0x67 /* 'g' */ :
{
mG(true);
theRetToken=_returnToken;
break;
}
case 0x49 /* 'I' */ :
case 0x69 /* 'i' */ :
{
mI(true);
theRetToken=_returnToken;
break;
}
case 0x4f /* 'O' */ :
case 0x6f /* 'o' */ :
{
mO(true);
theRetToken=_returnToken;
break;
}
case 0x42 /* 'B' */ :
case 0x62 /* 'b' */ :
{
mB(true);
theRetToken=_returnToken;
break;
}
case 0x5a /* 'Z' */ :
{
mZ(true);
theRetToken=_returnToken;
break;
}
case 0x7a /* 'z' */ :
{
mZZ(true);
theRetToken=_returnToken;
break;
}
case 0x51 /* 'Q' */ :
case 0x71 /* 'q' */ :
{
mQ(true);
theRetToken=_returnToken;
break;
}
case 0x48 /* 'H' */ :
case 0x68 /* 'h' */ :
{
mH(true);
theRetToken=_returnToken;
break;
}
case 0x54 /* 'T' */ :
case 0x74 /* 't' */ :
{
mT(true);
theRetToken=_returnToken;
break;
}
case 0x4c /* 'L' */ :
case 0x6c /* 'l' */ :
{
mL(true);
theRetToken=_returnToken;
break;
}
case 0x52 /* 'R' */ :
case 0x72 /* 'r' */ :
{
mR(true);
theRetToken=_returnToken;
break;
}
case 0x58 /* 'X' */ :
case 0x78 /* 'x' */ :
{
mX(true);
theRetToken=_returnToken;
break;
}
case 0x2e /* '.' */ :
{
mDOT(true);
theRetToken=_returnToken;
break;
}
case 0x9 /* '\t' */ :
case 0x20 /* ' ' */ :
{
mWHITESPACE(true);
theRetToken=_returnToken;
break;
}
case 0x2b /* '+' */ :
case 0x2d /* '-' */ :
case 0x30 /* '0' */ :
case 0x31 /* '1' */ :
case 0x32 /* '2' */ :
case 0x33 /* '3' */ :
case 0x34 /* '4' */ :
case 0x35 /* '5' */ :
case 0x36 /* '6' */ :
case 0x37 /* '7' */ :
case 0x38 /* '8' */ :
case 0x39 /* '9' */ :
{
mNUMBER(true);
theRetToken=_returnToken;
break;
}
default:
if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x4d /* 'M' */ ) && (LA(3) == 0x4f /* 'O' */ ) && (LA(4) == 0x41 /* 'A' */ )) {
mCMOA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x4d /* 'M' */ ) && (LA(3) == 0x4f /* 'O' */ ) && (LA(4) == 0x49 /* 'I' */ )) {
mCMOI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x4d /* 'M' */ ) && (LA(3) == 0x6f /* 'o' */ )) {
mCMoA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x44 /* 'D' */ ) && (LA(3) == 0x49 /* 'I' */ )) {
mCDI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x4d /* 'M' */ ) && (LA(3) == 0x49 /* 'I' */ )) {
mCMI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x53 /* 'S' */ ) && (LA(3) == 0x49 /* 'I' */ )) {
mCSI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x53 /* 'S' */ ) && (LA(3) == 0x46 /* 'F' */ )) {
mCSF(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x44 /* 'D' */ ) && (LA(3) == 0x57 /* 'W' */ )) {
mCDWA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x44 /* 'D' */ ) && (LA(3) == 0x77 /* 'w' */ )) {
mCDwA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x41 /* 'A' */ ) && (LA(3) == 0x50 /* 'P' */ )) {
mCAPA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x41 /* 'A' */ ) && (LA(3) == 0x70 /* 'p' */ )) {
mCApA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x25 /* '%' */ ) && (LA(2) == 0x22 /* '\"' */ || LA(2) == 0x27 /* '\'' */ )) {
mCSTRING(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x6d /* 'm' */ )) {
mCmoA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x59 /* 'Y' */ )) {
mCYI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x48 /* 'H' */ )) {
mCHI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x68 /* 'h' */ )) {
mChI(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x64 /* 'd' */ )) {
mCdwA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ ) && (LA(2) == 0x61 /* 'a' */ )) {
mCapA(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x43 /* 'C' */ || LA(1) == 0x63 /* 'c' */ ) && (true)) {
mC(true);
theRetToken=_returnToken;
}
else if ((LA(1) == 0x25 /* '%' */ ) && (true)) {
mPERCENT(true);
theRetToken=_returnToken;
}
else {
if (LA(1)==EOF_CHAR)
{
uponEOF();
_returnToken = makeToken(antlr::Token::EOF_TYPE);
}
else {throw antlr::NoViableAltForCharException(LA(1), getFilename(), getLine(), getColumn());}
}
}
if ( !_returnToken )
goto tryAgain; // found SKIP token
_ttype = _returnToken->getType();
_ttype = testLiteralsTable(_ttype);
_returnToken->setType(_ttype);
return _returnToken;
}
catch (antlr::RecognitionException& e) {
throw antlr::TokenStreamRecognitionException(e);
}
catch (antlr::CharStreamIOException& csie) {
throw antlr::TokenStreamIOException(csie.io);
}
catch (antlr::CharStreamException& cse) {
throw antlr::TokenStreamException(cse.getMessage());
}
tryAgain:;
}
}
void BodyNode::_updateGeralizedInertia() {
// G = | I - m*[r]*[r] m*[r] |
// | -m*[r] m*I |
// m*r
double mr0 = mMass * mCenterOfMass[0];
double mr1 = mMass * mCenterOfMass[1];
double mr2 = mMass * mCenterOfMass[2];
// m*[r]*[r]
double mr0r0 = mr0 * mCenterOfMass[0];
double mr1r1 = mr1 * mCenterOfMass[1];
double mr2r2 = mr2 * mCenterOfMass[2];
double mr0r1 = mr0 * mCenterOfMass[1];
double mr1r2 = mr1 * mCenterOfMass[2];
double mr2r0 = mr2 * mCenterOfMass[0];
// Top left corner (3x3)
mI(0, 0) = mIxx + mr1r1 + mr2r2;
mI(1, 1) = mIyy + mr2r2 + mr0r0;
mI(2, 2) = mIzz + mr0r0 + mr1r1;
mI(0, 1) = mIxy - mr0r1;
mI(0, 2) = mIxz - mr2r0;
mI(1, 2) = mIyz - mr1r2;
// Top right corner (3x3)
mI(1, 5) = -mr0;
mI(0, 5) = mr1;
mI(0, 4) = -mr2;
mI(2, 4) = mr0;
mI(2, 3) = -mr1;
mI(1, 3) = mr2;
assert(mI(0, 3) == 0.0);
assert(mI(1, 4) == 0.0);
assert(mI(2, 5) == 0.0);
// Bottom right corner (3x3)
mI(3, 3) = mMass;
mI(4, 4) = mMass;
mI(5, 5) = mMass;
assert(mI(3, 4) == 0.0);
assert(mI(3, 5) == 0.0);
assert(mI(4, 5) == 0.0);
mI.triangularView<Eigen::StrictlyLower>() = mI.transpose();
}