void IkSolver::applyAllConstraints(const Bone *parent, const Bone &b)
{
if ((parent == 0) && (b.primaryJointIdx >= 0))
applyConstraints(b, b.joints[b.primaryJointIdx]);
else if (parent != 0)
applyConstraints(b, *b.findJointWith(*parent));
for (int i = 0; i < (int)b.joints.size(); ++i)
{
const Bone::Connection &c = b.joints[i];
if (c.to != parent)
applyAllConstraints(&b, *c.to);
}
}
void VerletParticle::update() {
if (!isLocked) {
applyBehaviors();
applyForce();
applyConstraints();
}
}
void Foam::sixDoFRigidBodyMotion::updateForce
(
const vector& fGlobal,
const vector& tauGlobal,
scalar deltaT
)
{
// Second leapfrog velocity adjust part, required after motion and
// force calculation
if (Pstream::master())
{
a() = fGlobal/mass_;
tau() = (Q().T() & tauGlobal);
applyRestraints();
applyConstraints(deltaT);
vector aClip = a();
scalar aMag = mag(aClip);
if (aMag > SMALL)
{
aClip /= aMag;
}
if (aMag > aLim_)
{
WarningIn
(
"void Foam::sixDoFRigidBodyMotion::updateForce"
"("
"const vector& fGlobal, "
"const vector& tauGlobal, "
"scalar deltaT"
")"
)
<< "Limited acceleration " << a()
<< " to " << aClip*aLim_
<< endl;
}
v() += 0.5*(1 - cDamp_)*deltaT*aClip*min(aMag, aLim_);
pi() += 0.5*(1 - cDamp_)*deltaT*tau();
if(report_)
{
status();
}
}
Pstream::scatter(motionState_);
}
void step()
{
projectPositions();
for(int i=0; i<CONSTRAINT_ITERATIONS; ++i)
{
applyConstraints();
}
unprojectVelocities();
removeFlagged();
}
MediaStreamTrack::MediaStreamTrack(ScriptExecutionContext* context, MediaStreamTrackPrivate& privateTrack, const Dictionary* constraints)
: ActiveDOMObject(context)
, m_privateTrack(privateTrack)
, m_eventDispatchScheduled(false)
, m_stoppingTrack(false)
{
suspendIfNeeded();
m_privateTrack->setClient(this);
if (constraints)
applyConstraints(*constraints);
}
void Foam::laplaceTetMotionSolver::solve()
{
// Solve for mesh motion
if (!frozen_ && !firstMotion_)
{
Info << "Correct mesh motion diffusion field." << endl;
diffusionPtr_->correct();
}
tetFemVectorMatrix motionEqn
(
tetFem::laplacian
(
diffusion().motionGamma(),
motionU()
)
);
// Apply motion constraints
applyConstraints(motionEqn);
// Solve the motion equation
if (firstMotion_)
{
firstMotion_ = false;
// In the first solution, solve the motion twice to avoid relative
// tolerance problem
for (label i = 0; i < 2; i++)
{
solverPerf_ = motionEqn.solve();
}
}
else
{
solverPerf_ = motionEqn.solve();
}
if (needTotDisplacement())
{
totDisplacement() += motionU()*tetMesh().time().deltaT();
}
}
void Foam::pseudoSolidTetMotionSolver::solve()
{
// Solve for mesh motion
if (!frozen_ && !firstMotion_)
{
Pout << "Correct mesh motion diffusion field." << endl;
diffusionPtr_->correct();
}
int iCorr = 0;
scalar initialResidual = 0;
do
{
Pout << "Correction: " << ++iCorr << endl;
tetPointVectorField& U = motionU();
const elementScalarField& mu = diffusion().motionGamma();
tetFemVectorMatrix motionEqn
(
tetFem::laplacian(mu, U)
+ tetFem::laplacianTranspose(mu, U)
+ tetFem::laplacianTrace
(
(2*nu_/(1 - 2*nu_))*mu,
motionU()
)
);
// Apply motion constraints
applyConstraints(motionEqn);
// Solve the motion equation
initialResidual = motionEqn.solve().initialResidual();
Pout << "Initial residual: " << initialResidual << endl;
}
while (initialResidual > convergenceTolerance_ && iCorr < nCorrectors_);
}
vec3d IkSolver::updateJointByIk(const Bone &b, const Bone::Connection &joint, const vec3d &target, const vec3d &tip)
{
BoneState &bs = boneStates[b.id];
const vec3d relTip = tip - joint.pos;
const vec3d relTarget = target - joint.pos;
// calculate the required rotation
mat3d rot = calcDirectRotation(relTip, relTarget);
if (rot == mat3d(1.0)) return tip;
// apply constraints to the bone's orientation
if (mApplyConstraints)
{
mat3d oldRot = bs.rot;
bs.rot = bs.rot * rot;
applyConstraints(b, joint);
rot = transpose(oldRot) * bs.rot;
}
else // alternatively, just apply the rotation directly
bs.rot = bs.rot * rot;
return joint.pos + rot*relTip;
}
bool Charts::Chart::update(void)
{
preUpdate();
const glm::float_t width = this->size.width;
const glm::float_t height = this->size.height;
if (!TR_VERIFY(width > 0.0 && height > 0.0)) {
return false;
}
bool changed = false;
if (title) {
changed = changed || title->versionChanged();
}
Margin internalMargin;
for (auto axis : axisList) {
addAxisInternalMargin(internalMargin, axis);
}
renderArgs.margin = Margin::add(margin, internalMargin);
if (renderArgs.screenSize.x != width || renderArgs.screenSize.y != height) {
if(!doRelayout) {
const glm::vec2 marginProjection(renderArgs.margin.left + renderArgs.margin.right, renderArgs.margin.top + renderArgs.margin.bottom);
const glm::vec2 newSize(width - marginProjection.x, height - marginProjection.y);
if (resizeMode == ResizeMode::Rescale) {
if (renderArgs.screenSize.x > 0.0 && renderArgs.screenSize.y > 0.0) {
const glm::vec2 oldSize(renderArgs.screenSize.x - marginProjection.x, renderArgs.screenSize.y - marginProjection.y);
scale *= (newSize / oldSize);
} else {
offset = glm::vec2(0.f);
scale = newSize;
}
} else if (resizeMode == ResizeMode::Relayout) {
offset = glm::vec2(0.f);
scale = newSize;
}
}
renderArgs.screenSize = glm::vec2(width, height);
renderArgs.contentScaleFactor = contentScaleFactor;
renderArgs.projection = glm::ortho(0.f, renderArgs.screenSize.x, 0.f, renderArgs.screenSize.y, -1000.f, +1000.f);
}
if (glm::float_t(contentScaleFactor) != renderArgs.contentScaleFactor) {
renderArgs.contentScaleFactor = contentScaleFactor;
}
renderArgs.areaStart = glm::vec2(renderArgs.margin.left, renderArgs.margin.bottom);
renderArgs.areaSize = renderArgs.screenSize - glm::vec2(renderArgs.margin.left + renderArgs.margin.right, renderArgs.margin.top + renderArgs.margin.bottom);
if (doRelayout) {
offset = glm::dvec2(0.f);
scale = renderArgs.areaSize;
doRelayout = false;
} else {
applyAnimations();
applyConstraints();
}
// must check this AFTER applying animations and constraints
changed = changed || versionChanged();
renderArgs.offset = offset;
renderArgs.scale = scale;
renderArgs.clearColor = Utils::colorToVec4(backgroundColor);
for (auto axis : axisList) {
//if (axis->isEnabled()) {
changed |= axis->update(renderArgs);
//}
}
for (auto series : seriesList) {
//if (series->isEnabled()) {
changed |= series->update(renderArgs);
//}
}
for (auto decoration : decorationList) {
//if (decoration->isEnabled()) {
changed |= decoration->update(renderArgs);
//}
}
if (!preRendered) {
// we mark the chart as changed if it has not been pre-rendered, the purpose of the update changed value is
// conditional rendering and if we update twice before calling render we will still need to render again.
changed = true;
}
if(changed) {
preRendered = false;
}
preUpdated = false;
markVersion();
if (title) {
title->markVersion();
}
updated = true;
return changed;
}
