void BitoneRangeFit::Compress4(void* block)
{
// cache some values
int const count = m_bitones->GetCount();
Vec3 const* values = m_bitones->GetPoints();
Scr3 const* freq = m_bitones->GetWeights();
// create a codebook
// resolve "metric * (value - code)" to "metric * value - metric * code"
Vec3 codes[4]; Codebook4(codes, m_start, m_end);
// match each point to the closest code
u8 closest[16];
Scr3 error = Scr3(DISTANCE_BASE);
for (int i = 0; i < count; ++i) {
int idx = 0;
// find the closest code
Vec3 value = values[i];
Scr3 dist; MinDistance4<true>(dist, idx, value, codes);
// accumulate the error
AddDistance(dist, error, freq[i]);
// save the index
closest[i] = (u8)idx;
}
// save this scheme if it wins
if (error < m_besterror) {
// save the error
m_besterror = error;
// remap the indices
u8 indices[16]; m_bitones->RemapIndices(closest, indices);
// save the block
WriteBitoneBlock4(m_start, m_end, indices, block);
}
}
void StandardJoints (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
CreateLevelMesh (scene, "flatPlane.ngd", 1);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (1.5f, 2.0f, 2.0f, 0.0f);
// AddPoweredRagDoll (scene, dVector (-20.0f, 0.0f, -15.0f));
AddDistance (scene, dVector (-20.0f, 0.0f, -25.0f));
AddLimitedBallAndSocket (scene, dVector (-20.0f, 0.0f, -20.0f));
// AddPoweredRagDoll (scene, dVector (-20.0f, 0.0f, -15.0f));
AddBallAndSockectWithFriction (scene, dVector (-20.0f, 0.0f, -10.0f));
Add6DOF (scene, dVector (-20.0f, 0.0f, -5.0f));
AddHinge (scene, dVector (-20.0f, 0.0f, 0.0f));
AddSlider (scene, dVector (-20.0f, 0.0f, 5.0f));
AddCylindrical (scene, dVector (-20.0f, 0.0f, 10.0f));
AddUniversal (scene, dVector (-20.0f, 0.0f, 15.0f));
//just to show up add some relational joints example
AddGear (scene, dVector (-20.0f, 0.0f, 20.0f));
AddPulley (scene, dVector (-20.0f, 0.0f, 25.0f));
AddGearAndRack (scene, dVector (-20.0f, 0.0f, 30.0f));
AddSlidingContact (scene, dVector (-20.0f, 0.0f, 35.0f));
// AddPathFollow (scene, dVector (20.0f, 0.0f, 0.0f));
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-40.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
