void RoboCat::UpdateRotation( const Vector3& inTarget )
{
Vector3 toMoveVec = inTarget - GetLocation();
toMoveVec.Normalize2D();
float angle = acosf( Dot2D( toMoveVec, Vector3::NegUnitY ) );
Vector3 cross = Cross( Vector3::NegUnitY, toMoveVec );
if ( cross.mZ < 0.0f )
{
angle *= -1.0f;
}
SetRotation( angle );
}
double Noise2D(double xin, double yin)
{
double n0, n1, n2; // Noise contributions from the three corners
// Skew the input space to determine which simplex cell we're in
double F2 = 0.5*(sqrt(3.0)-1.0);
double s = (xin+yin)*F2; // Hairy factor for 2D
int i = floor(xin+s);
int j = floor(yin+s);
double G2 = (3.0-sqrt(3.0))/6.0;
double t = (i+j)*G2;
double X0 = i-t; // Unskew the cell origin back to (x,y) space
double Y0 = j-t;
double x0 = xin-X0; // The x,y distances from the cell origin
double y0 = yin-Y0;
// For the 2D case, the simplex shape is an equilateral triangle.
// Determine which simplex we are in.
int i1, j1; // Offsets for second (middle) corner of simplex in (i,j) coords
if(x0>y0){
i1=1;
j1=0; // lower triangle, XY order: (0,0)->(1,0)->(1,1)
}
else {
i1=0;
j1=1; // upper triangle, YX order: (0,0)->(0,1)->(1,1)
}
// A step of (1,0) in (i,j) means a step of (1-c,-c) in (x,y), and
// a step of (0,1) in (i,j) means a step of (-c,1-c) in (x,y), where
// c = (3-sqrt(3))/6
double x1 = x0 - i1 + G2; // Offsets for middle corner in (x,y) unskewed coords
double y1 = y0 - j1 + G2;
double x2 = x0 - 1.0 + 2.0 * G2; // Offsets for last corner in (x,y) unskewed coords
double y2 = y0 - 1.0 + 2.0 * G2;
// Work out the hashed gradient indices of the three simplex corners
int ii = i & 255;
int jj = j & 255;
int gi0 = perm[ii+perm[jj]] % 12;
int gi1 = perm[ii+i1+perm[jj+j1]] % 12;
int gi2 = perm[ii+1+perm[jj+1]] % 12;
// Calculate the contribution from the three corners
double t0 = 0.5 - x0*x0-y0*y0;
if (t0<0){
n0 = 0.0;
}
else{
t0 = t0 * t0;
n0 = t0 * t0 * Dot2D(gradients3d[gi0], x0, y0); // (x,y) of Gradients3D used for 2D gradient
}
double t1 = 0.5 - x1*x1-y1*y1;
if (t1<0){
n1 = 0.0;
}
else{
t1 = t1*t1;
n1 = t1 * t1 * Dot2D(gradients3d[gi1], x1, y1);
}
double t2 = 0.5 - x2*x2-y2*y2;
if (t2<0){
n2 = 0.0;
}
else{
t2 = t2*t2;
n2 = t2 * t2 * Dot2D(gradients3d[gi2], x2, y2);
}
// Add contributions from each corner to get the final noise value.
// The result is scaled to return values in the localerval [-1,1].
double ret = (70.0 * (n0 + n1 + n2));
return ret;
}
CommunicationStructure2D::CommunicationStructure2D (
std::vector<Overlap2D> const& overlaps,
MultiBlockManagement2D const& originManagement,
MultiBlockManagement2D const& destinationManagement,
plint sizeOfCell )
{
plint fromEnvelopeWidth = originManagement.getEnvelopeWidth();
plint toEnvelopeWidth = destinationManagement.getEnvelopeWidth();
SparseBlockStructure2D const& fromSparseBlock
= originManagement.getSparseBlockStructure();
SparseBlockStructure2D const& toSparseBlock
= destinationManagement.getSparseBlockStructure();
SendRecvPool sendPool, recvPool;
for (pluint iOverlap=0; iOverlap<overlaps.size(); ++iOverlap) {
Overlap2D const& overlap = overlaps[iOverlap];
CommunicationInfo2D info;
info.fromBlockId = overlap.getOriginalId();
info.toBlockId = overlap.getOverlapId();
SmartBulk2D originalBulk(fromSparseBlock, fromEnvelopeWidth, info.fromBlockId);
SmartBulk2D overlapBulk(toSparseBlock, toEnvelopeWidth, info.toBlockId);
Box2D originalCoordinates(overlap.getOriginalCoordinates());
Box2D overlapCoordinates(overlap.getOverlapCoordinates());
info.fromDomain = originalBulk.toLocal(originalCoordinates);
info.toDomain = overlapBulk.toLocal(overlapCoordinates);
info.absoluteOffset = Dot2D (
overlapCoordinates.x0 - originalCoordinates.x0,
overlapCoordinates.y0 - originalCoordinates.y0 );
plint lx = info.fromDomain.x1-info.fromDomain.x0+1;
plint ly = info.fromDomain.y1-info.fromDomain.y0+1;
PLB_PRECONDITION(lx == info.toDomain.x1-info.toDomain.x0+1);
PLB_PRECONDITION(ly == info.toDomain.y1-info.toDomain.y0+1);
plint numberOfCells = lx*ly;
ThreadAttribution const& fromAttribution = originManagement.getThreadAttribution();
ThreadAttribution const& toAttribution = destinationManagement.getThreadAttribution();
info.fromProcessId = fromAttribution.getMpiProcess(info.fromBlockId);
info.toProcessId = toAttribution.getMpiProcess(info.toBlockId);
if ( fromAttribution.isLocal(info.fromBlockId) &&
toAttribution.isLocal(info.toBlockId))
{
sendRecvPackage.push_back(info);
}
else if (fromAttribution.isLocal(info.fromBlockId))
{
sendPackage.push_back(info);
sendPool.subscribeMessage(info.toProcessId, numberOfCells*sizeOfCell);
}
else if (toAttribution.isLocal(info.toBlockId))
{
recvPackage.push_back(info);
recvPool.subscribeMessage(info.fromProcessId, numberOfCells*sizeOfCell);
}
}
sendComm = SendPoolCommunicator(sendPool);
recvComm = RecvPoolCommunicator(recvPool);
}
Dot2D computeRelativeDisplacement(AtomicBlock2D const& block1, AtomicBlock2D const& block2) {
return Dot2D(block1.getLocation().x-block2.getLocation().x,
block1.getLocation().y-block2.getLocation().y);
}
