/**
* Makes a stair set, this is 13 steps each at an angle of 3.38 degrees off
* each step leads to a platform that is at the same level as that last step
* platforms center are at the 90, 180, 270, and 0 degrees of a circle
**/
ComplexObject* mkStairSet( float firstHeight, float baseAngle,
float xTrans, float zTrans )
{
ComplexObject *stairSet = malloc( sizeof( ComplexObject ) );
if( stairSet == NULL )
{
perror( "Could not malloc for stairset\n" );
exit( 1 );
}
// there are 13 stairs in a stairSet
stairSet->numObjects = 14;
stairSet->object = malloc( sizeof( Object* ) * 14 );
float currentAngle = baseAngle;
float currentHeight = firstHeight;
for( int i = 0; i < 13; i++ )
{
stairSet->object[i] = makeStep( currentHeight, currentAngle,
xTrans, zTrans );
currentHeight += .25;
currentAngle -= 4.4;
}
int diff = ((int) baseAngle) % 90;
currentHeight -= .25;
currentAngle = baseAngle - diff;
float xDisp = 2 * cos( currentAngle * 3.14159 / 180 );
float zDisp = -2 * sin( currentAngle * 3.14159 / 180 );
stairSet->object[13] = mkLanding( currentHeight, currentAngle,
xDisp + xTrans, zDisp + zTrans );
return stairSet;
}
void MultiDLA::cMultiDLA(CellsField* fld, double targetPorosity, uint32_t initN,
uint32_t step, uint32_t hitCnt)
{
fld->clear();
double currVol = 0.0;
double needVol = fld->cellsCnt() * (1 - targetPorosity);
bool needHit = (hitCnt != 1);
size_t dimensions = MCoord::defDims();
MCoordVec* mapNeigh = createNeighborsMap(dimensions);
MCoordVec* mapSteps = createStepMap(dimensions, step);
uint32_t currCnt = 0;
MCoord currCoord;
while (currCnt != initN) {
currCoord = freeRandomPntInField(fld);
fld->setElement(currCoord);
currVol += vAdd(fld, currCoord);
++currCnt;
}
CellsField* hitField;
if (needHit) {
hitField = new CellsField(fld->size(), MCoord(), fld->radius() * 2);
}
while (currVol < needVol) {
currCoord = freeRandomPntInField(fld);
if (needHit) {
hitField->clear();
}
while (true) {
if (!fld->isSet(currCoord) && cntNeighbors(fld, mapNeigh, currCoord) != 0) {
FieldElement newHitCnt = 1;
if (needHit) {
newHitCnt = hitField->elementVal(currCoord) + 1;
hitField->setElementVal(currCoord, newHitCnt);
}
if (newHitCnt >= hitCnt) {
fld->setElement(currCoord);
currVol += vAdd(fld, currCoord);
++currCnt;
break;
}
}
MCoord tmpCoord = makeStep(currCoord, mapSteps);
tmpCoord = toroidizeCoords(tmpCoord, fld->size());
while (fld->isSet(tmpCoord)) {
tmpCoord = makeStep(currCoord, mapSteps);
tmpCoord = toroidizeCoords(tmpCoord, fld->size());
}
currCoord = tmpCoord;
}
}
delete mapNeigh;
mapNeigh = nullptr;
delete mapSteps;
mapSteps = nullptr;
if (needHit) {
delete hitField;
hitField = nullptr;
}
}
void HCOD::activeSearch( VectorXd & u )
{
// if( isDebugOnce ) { sotDebugTrace::openFile(); isDebugOnce = false; }
// else { if(sotDEBUGFLOW.outputbuffer.good()) sotDebugTrace::closeFile(); }
//if(sotDEBUGFLOW.outputbuffer.good()) { sotDebugTrace::closeFile();sotDebugTrace::openFile(); }
sotDEBUGIN(15);
/*
* foreach stage: stage.initCOD(Ir_init)
* u = 0
* u0 = solve
* do
* tau,cst_ref = max( violation(stages) )
* u += (1-tau)u0 + tau*u1
* if( tau<1 )
* update(cst_ref); break;
*
* lambda,w = computeLambda
* cst_ref,lmin = min( lambda,w )
* if lmin<0
* downdate( cst_ref )
*
*/
assert(VectorXi::LinSpaced(3,0,2)[0] == 0
&& VectorXi::LinSpaced(3,0,2)[1] == 1
&& VectorXi::LinSpaced(3,0,2)[2] == 2
&& "new version of Eigen might have change the "
"order of arguments in LinSpaced, please correct");
/*struct timeval t0,t1,t2;double time1,time2;
gettimeofday(&t0,NULL);*/
initialize();
sotDEBUG(5) << "Y= " << (MATLAB)Y.matrixExplicit<< std::endl;
Y.computeExplicitly(); // TODO: this should be done automatically on Y size.
sotDEBUG(5) << "Y= " << (MATLAB)Y.matrixExplicit<< std::endl;
/*gettimeofday(&t1,NULL);
time1 = ((t1.tv_sec-t0.tv_sec)+(t1.tv_usec-t0.tv_usec)/1.0e6);*/
int iter = 0;
startTime=getCPUtime();
Index stageMinimal = 0;
do
{
iter ++; sotDEBUG(5) << " --- *** \t" << iter << "\t***.---" << std::endl;
//if( iter>1 ) { break; }
if( sotDEBUG_ENABLE(15) ) show( sotDEBUGFLOW );
assert( testRecomposition(&std::cerr) );
damp();
computeSolution();
assert( testSolution(&std::cerr) );
double tau = computeStepAndUpdate();
if( tau<1 )
{
sotDEBUG(5) << "Update done, make step <1." << std::endl;
makeStep(tau);
}
else
{
sotDEBUG(5) << "No update, make step ==1." << std::endl;
makeStep();
for( ;stageMinimal<=(Index)stages.size();++stageMinimal )
{
sotDEBUG(5) << "--- Started to examinate stage " << stageMinimal << std::endl;
computeLagrangeMultipliers(stageMinimal);
if( sotDEBUG_ENABLE(15) ) show( sotDEBUGFLOW );
//assert( testLagrangeMultipliers(stageMinimal,std::cerr) );
if( searchAndDowndate(stageMinimal) )
{
sotDEBUG(5) << "Lagrange<0, downdate done." << std::endl;
break;
}
for( Index i=0;i<stageMinimal;++i )
stages[i]->freezeSlacks(false);
if( stageMinimal<nbStages() )
stages[stageMinimal]->freezeSlacks(true);
}
}
lastTime=getCPUtime()-startTime;
lastNumberIterations=iter;
if( lastTime>maxTime ) throw 667;
if( iter>maxNumberIterations ) throw 666;
} while(stageMinimal<=nbStages());
sotDEBUG(5) << "Lagrange>=0, no downdate, active search completed." << std::endl;
/*gettimeofday(&t2,NULL);
time2 = ((t2.tv_sec-t1.tv_sec)+(t2.tv_usec-t1.tv_usec)/1.0e6);
std::ofstream fup("/tmp/haset.dat",std::ios::app);
fup << time1<<"\t"<<time2<<"\t"<<iter<<"\t";*/
u=solution;
sotDEBUG(5) << "uf =" << (MATLAB)u << std::endl;
sotDEBUGOUT(15);
}
void GraphicalEntity::update() {
makeStep();
}
