Matrix4 FPSview(Vector3 cameraPosition, float pitch, float yaw)
{
// If the pitch and yaw angles are in degrees,
// they need to be converted to radians. Here
// I assume the values are already converted to radians.
float cosPitch = cos(pitch);
float sinPitch = sin(pitch);
float cosYaw = cos(yaw);
float sinYaw = sin(yaw);
Vector3 xaxis( cosYaw, 0, -sinYaw);
Vector3 yaxis( sinYaw * sinPitch, cosPitch, cosYaw * sinPitch);
Vector3 zaxis( sinYaw * cosPitch, -sinPitch, cosPitch * cosYaw);
// Create a 4x4 view matrix from the right, up, forward and eye position vectors
Matrix4 viewMatrix
(
Vector4( xaxis.x, yaxis.x, zaxis.x, 0 ),
Vector4( xaxis.y, yaxis.y, zaxis.y, 0 ),
Vector4( xaxis.z, yaxis.z, zaxis.z, 0 ),
Vector4(-xaxis.dot(cameraPosition), -yaxis.dot(cameraPosition), -zaxis.dot(cameraPosition), 1 )
);
return viewMatrix;
}
void rgl_bbox(int* successptr,
int* idata,
double* ddata,
double* xat, char** xtext,
double* yat, char** ytext,
double* zat, char** ztext)
{
int success = RGL_FAIL;
Device* device = deviceManager->getAnyDevice();
if (device) {
int xticks = idata[0];
int yticks = idata[1];
int zticks = idata[2];
int xlen = idata[3];
int ylen = idata[4];
int zlen = idata[5];
int marklen_rel = idata[6];
float xunit = (float) ddata[0];
float yunit = (float) ddata[1];
float zunit = (float) ddata[2];
float marklen = (float) ddata[3];
AxisInfo xaxis(xticks, xat, xtext, xlen, xunit);
AxisInfo yaxis(yticks, yat, ytext, ylen, yunit);
AxisInfo zaxis(zticks, zat, ztext, zlen, zunit);
success = as_success( device->add( new BBoxDeco(currentMaterial, xaxis, yaxis, zaxis, marklen, (bool) marklen_rel ) ) );
}
*successptr = success;
}
nemo_main()
{
real xtrans(real), ytrans(real);
formalaxis = getbparam("formalaxis");
xlabdn = getdparam("xlabdn");
xszlab = getdparam("xszlab");
ylablf = getdparam("ylablf");
yszlab = getdparam("yszlab");
plinit("***", 0.0, 20.0, 0.0, 20.0);
xaxis( 2.0, 2.0, 16.0, xrange, -3, xtrans, "x");
xaxis( 2.0, 18.0, 16.0, xrange, -3, xtrans, NULL);
yaxis( 2.0, 2.0, 16.0, yrange, -7, ytrans, "y");
yaxis(18.0, 2.0, 16.0, yrange, -7, ytrans, NULL);
plstop();
}
Vector3d Track::getUp(double t) const
{
//Vector3d vup = getNonNormalizedNormalVector(t);
//assert (vup.x==vup.x && vup.y==vup.y && vup.z==vup.z); // Ensure is not NAN
//if (vup.length() < VECTORLENGHTMINIMUM) return Vector3d(0,0,0);
//return vup;
// Find out in which interval we are on the spline
int p = (int)(t / delta_t);
double lt = (t - delta_t*(double)p) / delta_t;
#define BOUNDS2(pp) { if (pp < 0) pp = 0; else if (pp >= (int)rotations.size()-2) pp = rotations.size() - 2; }
BOUNDS2(p);
//double angle0 = rotations[p];
//double angle1 = rotations[p+1];
//double angleinterpolated = (angle1-angle0)*lt;
// TODO: if y axis and tangent is almost parallel, we get gimbal lock. FIX!
Vector3d yaxis(0,1,0);
Vector3d tangent = getTangentVector(t);
// Find the unit right/binormal vector in the right-hand system (tangent, (0,1,0), right).
// Note that this will lead to problems if the tangent vector is very close to +- (0,1,0)
Vector3d right = tangent.cross(yaxis).normalizedCopy();
Vector3d up = -tangent.cross(right).normalizedCopy();
// Interpolate the angle linearly between this and next point
double angleInterpolated = rotations[p] + (rotations[p+1]-rotations[p]) * lt;
up = cos(angleInterpolated)*up + sin(angleInterpolated)*right;
return up.normalizedCopy();
}
int yaxis(node *temp)
{
if(temp==NULL)
return NULL;
if(temp->right!=NULL)
{
printf("%d\n",temp->data);
yaxis(temp->right);
}
else
{
printf("%d\n",temp->data);
yaxis(temp->left);
}
}
SbRotation
SoBillboard::calculateRotation(SoState *state)
{
SbRotation rot;
#ifdef INVENTORRENDERER
const SbViewVolume &viewVolume = SoViewVolumeElement::get(state);
if (SbVec3f(0.0f, 0.0f, 0.0f) == axis.getValue())
{
rot = viewVolume.getAlignRotation();
}
#else
const SbMatrix &mm = SoModelMatrixElement::get(state);
SbMatrix imm = mm.inverse();
SbVec3f toviewer;
SbVec3f cameray(0.0f, 1.0f, 0.0f);
const SbViewVolume &vv = SoViewVolumeElement::get(state);
toviewer = -vv.getProjectionDirection();
imm.multDirMatrix(toviewer, toviewer);
(void)toviewer.normalize();
SbVec3f rotaxis = this->axis.getValue();
if (rotaxis == SbVec3f(0.0f, 0.0f, 0.0f))
{
// 1. Compute the billboard-to-viewer vector.
// 2. Rotate the Z-axis of the billboard to be collinear with the
// billboard-to-viewer vector and pointing towards the viewer's position.
// 3. Rotate the Y-axis of the billboard to be parallel and oriented in the
// same direction as the Y-axis of the viewer.
rot.setValue(SbVec3f(0.f, 0.0f, 1.0f), toviewer);
SbVec3f viewup = vv.getViewUp();
imm.multDirMatrix(viewup, viewup);
SbVec3f yaxis(0.0f, 1.0f, 0.0f);
rot.multVec(yaxis, yaxis);
SbRotation rot2(yaxis, viewup);
SbVec3f axis;
float angle;
rot.getValue(axis, angle);
rot2.getValue(axis, angle);
rot = rot * rot2;
//SoModelMatrixElement::rotateBy(state, (SoNode*) this, rot);
}
#endif
else
{
fprintf(stderr, "SoBillboard: axis != (0.0, 0.0, 0.0) not implemented\n");
}
return rot;
}
void GUI3DDirectionArrow::handleMsg( ZMsg *msg ) {
if( zmsgIs(type,MouseClickOn) && zmsgIs(which,L) && zmsgIs(dir,D) ) {
startDrag = FVec2( zmsgF(localX), zmsgF(localY) );
startDragMat = mat;
requestExclusiveMouse( 1, 1 );
zMsgUsed();
sendMsg();
}
else if( zmsgIs(type,MouseReleaseDrag) ) {
requestExclusiveMouse( 1, 0 );
zMsgUsed();
}
else if( zmsgIs(type,MouseDrag) ) {
FVec2 mouseDelta( zmsgF(localX), zmsgF(localY) );
mouseDelta.sub( startDrag );
mouseDelta.mul( 0.03f );
mat = startDragMat;
FMat4 eye = mat;
eye.setTrans( FVec3::Origin );
eye.inverse();
FVec3 yEye = eye.mul( FVec3::YAxisMinus );
FVec3 xEye = eye.mul( FVec3::XAxis );
mat.cat( rotate3D( yEye, mouseDelta.x ) );
mat.cat( rotate3D( xEye, mouseDelta.y ) );
zMsgUsed();
sendMsg();
}
else if( zmsgIs(type,SetDir) ) {
FVec3 xaxis( zmsgF(x), zmsgF(y), zmsgF(z) );
xaxis.mul(-1.f);
FVec3 yaxis( 0.f, 1.f, 0.f );
yaxis.cross( xaxis );
FVec3 zaxis = yaxis;
zaxis.cross( xaxis );
xaxis.normalize();
yaxis.normalize();
zaxis.normalize();
mat.m[0][0] = xaxis.x;
mat.m[0][1] = xaxis.y;
mat.m[0][2] = xaxis.z;
mat.m[0][3] = 0.f;
mat.m[1][0] = yaxis.x;
mat.m[1][1] = yaxis.y;
mat.m[1][2] = yaxis.z;
mat.m[1][3] = 0.f;
mat.m[2][0] = zaxis.x;
mat.m[2][1] = zaxis.y;
mat.m[2][2] = zaxis.z;
mat.m[2][3] = 0.f;
mat.m[3][0] = 0.f;
mat.m[3][1] = 0.f;
mat.m[3][2] = 0.f;
mat.m[3][3] = 1.f;
}
}
void
openplt(long n0, long n1, int sq0off, int sq1off,
char *xtitle, char *ytitle)
{
char *sptr;
time_t tt;
int tick = 6;
tt = time(NULL);
if (strlen(lvstr)>0) {
sscanf(lvstr,"%lg %lg %lg",&elinval[0],&elinval[1],&elinval[2]);
}
else if ((sptr=getenv("LINEVAL"))!=NULL && strlen(sptr)>0) {
sscanf(sptr,"%lg %lg %lg",&elinval[0],&elinval[1],&elinval[2]);
}
printf("<?xml version=\"1.0\" standalone=\"no\"?>\n");
printf("<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\" \n");
printf("\"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n\n");
printf("<svg width=\"564\" height=\"612\" version=\"1.1\"\n");
printf("xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\">\n\n");
pmaxx = n0;
pmaxy = n1;
fxscal = (double)(max_x-1)/(double)(n1);
fyscal = (double)(max_y-1)/(double)(n0);
if (fxscal > fyscal) fxscal = fyscal;
else fyscal = fxscal;
if (fyscal * n0 < (double)max_y/5.0)
fyscal = (double)(max_y-1)/((double)(n0)*5.0);
fxscal *= 0.9; fxoff = (double)(max_x-1)/11.0;
fyscal *= 0.9; fyoff = (double)(max_y-1)/11.0;
/* printf("currentlinewidth 1.5 mul setlinewidth\n"); */
printf("<rect x=\"%d\" y=\"%d\" width=\"%d\" height=\"%d\"\n",
SX(0),SY(n1+1), SX(n0+1)-SX(0), SY(0) - SY(n1+1));
printf("stroke=\"black\" stroke-width=\"2.0\" fill=\"none\" />\n");
xaxis(n0,sq1off, xtitle);
yaxis(n1,sq0off, ytitle);
legend();
}
void nemo_main()
{
stream istr;
char msg[128];
int i, ndim;
string *fn;
setparams();
compfuncs(); /* btrrtans snapplot-like interface */
plinit("***", 0.0, 20.0, 0.0, 20.0);
xaxis( 2.0, 2.0, 16.0, xrange, -7, xtrans, xlabel);
xaxis( 2.0, 18.0, 16.0, xrange, -7, xtrans, NULL);
yaxis( 2.0, 2.0, 16.0, yrange, -7, ytrans, ylabel);
yaxis(18.0, 2.0, 16.0, yrange, -7, ytrans, NULL);
sprintf(msg, "File: %s", input);
pltext(msg, 2.0, 18.4, 0.32, 0.0);
optr = NULL;
ndim = NDIM;
allocate_orbit(&optr,ndim,maxsteps); /* allocate a large orbit */
fn = burststring(input," ,");
for (i=0; fn[i]; i++) { /* loop over all files */
istr = stropen(fn[i], "r"); /* open orbit file */
while (read_orbit(istr,&optr)) { /* while an orbit found....*/
dprintf(0,"Read orbit with %d phase-points\n",Nsteps(optr));
plot_path(optr,trange[0],trange[1],nplot);
Nsteps(optr) = maxsteps; /* reset for next orbit */
}
strclose(istr);
}
plstop();
}
AM2DProcessVariableDataSource::AM2DProcessVariableDataSource(const AMProcessVariable *data, const QString &name, int rowLength, QObject *parent)
: QObject(parent), AMDataSource(name)
{
data_ = data;
sx_ = 1;
sy_ = 1;
length_ = rowLength;
connect(data_, SIGNAL(valueChanged()), this, SLOT(onDataChanged()));
connect(data_, SIGNAL(hasValuesChanged(bool)), this, SLOT(onStateChanged()));
AMAxisInfo xaxis("xAxis", length_, "Image X-axis");
xaxis.isUniform = true;
xaxis.increment = sx_;
AMAxisInfo yaxis("yAxis", data_->count()/length_, "Image Y-axis");
yaxis.isUniform = true;
yaxis.increment = sy_;
axes_ << xaxis << yaxis;
}
int _tmain(int argc, _TCHAR* argv[])
{
root=insert(20);
root->left=insert(13);
//root->right=insert(40);
root->left->left=insert(3);
root->left->right=NULL;
//root->right->left=NULL;
//root->right->right=insert(45);
root->left->left->left=NULL;
root->left->left->right=insert(8);
//root->right->right->left=insert(43);
//root->right->right->right=NULL;
printf("the inorder traversal of the above tree is\n");
inorder(root);
yaxis(root);
return 0;
}
void osgParticleHPS::ParticleTrail::renderDebug( float scale ) const
{
osg::Matrix rotMtx;
osg::Vec3 ptA, ptB;
osg::Vec3 xaxis( 1., 0., 0. );
osg::Vec3 yaxis( 0., 1., 0. );
osg::Vec3 zaxis( 0., 0., 1. );
glBegin( GL_LINES );
int i;
int numPoints = positions_.size();
for( i = 0; i < numPoints; i++ )
{
const HPSTrailPoint &point = positions_[i];
float sTexCoord = (float)i / (float)numPoints;
rotMtx.makeRotate(
point.rpy[0], yaxis,
point.rpy[1], xaxis,
point.rpy[2], zaxis
);
ptA = osg::Vec3(scale, 0., 0.) * rotMtx;
ptA += point.pos;
glVertex3fv( point.pos.ptr() );
glVertex3fv( ptA.ptr() );
ptA = osg::Vec3(0., 0., scale) * rotMtx;
ptA += point.pos;
glVertex3fv( point.pos.ptr() );
glVertex3fv( ptA.ptr() );
}
glEnd();
}
void osgParticleHPS::ParticleTrail::renderCrossRibbon() const
{
osg::Matrix rotMtx;
osg::Vec3 ptA, ptB;
osg::Vec3 xaxis( 1., 0., 0. );
osg::Vec3 yaxis( 0., 1., 0. );
osg::Vec3 zaxis( 0., 0., 1. );
int numPoints = positions_.size();
float t = 0.;
float tIncrement = 1. / maxNumPointsToRecord_;
const osgParticleHPS::rangev4 &colorRange = getColorRange();
const osgParticleHPS::Interpolator *colorInterp = getColorInterpolator();
const osgParticleHPS::rangev3 &sizeRange = getSizeRange();
const osgParticleHPS::Interpolator *sizeInterp = getSizeInterpolator();
// This offset will give the ribbon texture a much smoother feel.
// Without it, the texture would "pulse" and jump as the points at the
// tail end of the ribbon are removed.
float sTexCoordOffset = 1. / (float)numPoints;
sTexCoordOffset *= (t0_ - timestampForLastNewPoint_) / timeBetweenPoints_;
glBegin( GL_QUAD_STRIP );
int i;
for( i = 0; i < numPoints; i++ )
{
const HPSTrailPoint &point = positions_[i];
osg::Vec4 interpColor = colorInterp->interpolate( t, colorRange );
osg::Vec3 thisPosSize = sizeInterp->interpolate( t, sizeRange );
t += tIncrement;
float sTexCoord;
if( stretchTexture )
{
sTexCoord = (float)i / (float)numPoints;
if( i > 0 )
sTexCoord += sTexCoordOffset;
}
else
{
if( totalHistoryPoints%2 )
sTexCoord = (i%2) ? 0.0 : 1.0;
else
sTexCoord = (i%2) ? 1.0 : 0.0;
}
rotMtx.makeRotate(
point.rpy[0], yaxis,
point.rpy[1], xaxis,
point.rpy[2], zaxis
);
ptA = osg::Vec3(thisPosSize.x(), 0., 0.) * rotMtx;
ptB = ptA * -1.;
ptA += point.pos;
ptB += point.pos;
glColor4f( interpColor[0], interpColor[1], interpColor[2], interpColor[3] );
glTexCoord2f( sTexCoord, 1. );
glVertex3fv( ptA.ptr() );
glTexCoord2f( sTexCoord, 0. );
glVertex3fv( ptB.ptr() );
}
glEnd();
t = 0.0;
glBegin( GL_QUAD_STRIP );
for( i = 0; i < numPoints; i++ )
{
const HPSTrailPoint &point = positions_[i];
osg::Vec4 interpColor = colorInterp->interpolate( t, colorRange );
osg::Vec3 thisPosSize = sizeInterp->interpolate( t, sizeRange );
t += tIncrement;
float sTexCoord;
if( stretchTexture )
{
sTexCoord = (float)i / (float)numPoints;
if( i > 0 )
sTexCoord += sTexCoordOffset;
}
else
{
if( totalHistoryPoints%2 )
sTexCoord = (i%2) ? 0.0 : 1.0;
else
sTexCoord = (i%2) ? 1.0 : 0.0;
}
rotMtx.makeRotate(
point.rpy[0], yaxis,
point.rpy[1], xaxis,
point.rpy[2], zaxis
);
ptA = osg::Vec3(0., 0., thisPosSize.z()) * rotMtx;
ptB = ptA * -1.;
ptA += point.pos;
ptB += point.pos;
glColor4f( interpColor[0], interpColor[1], interpColor[2], interpColor[3] );
glTexCoord2f( sTexCoord, 1. );
glVertex3fv( ptA.ptr() );
glTexCoord2f( sTexCoord, 0. );
glVertex3fv( ptB.ptr() );
}
glEnd();
}
plot_map ()
{
real m_range, brightness, dcm;
real m_min, m_max;
int i, ix, iy;
int cnt; /* counter of pixels */
nsize = Nx(iptr); /* old method forced square .. */
cell = Dx(iptr); /* and forced so for gray scale due to LW mem-problems */
size = nsize*cell;
m_min = MapMin(iptr); /* get min- and max from header */
m_max = MapMax(iptr);
dprintf (1,"Min and max in map from map-header are: %f %f\n",m_min,m_max);
if (mmax==UNDEF) /* reset default autoscales to user supplied if necessary */
mmax=m_max;
if (mmin==UNDEF)
mmin=m_min;
m_range = mmax-mmin;
if (m_range==0) {
mmax=mmin+1.0;
if (gray) warning("%g; Plot-range was zero, mmax increased by 1",mmin);
}
dprintf (1,"User reset Min and max are: %f %f\n",mmin,mmax);
sprintf (plabel,"File: %s",infile); /* filename */
sprintf (clabel,"Contours: %s",cntstr); /* contour levels */
sprintf (glabel,"Gray MinMax: %g %g",mmin,mmax); /* grey scale minmax */
sprintf (tlabel,"Time: %g",Time(iptr)); /* time of orig snapshot */
/* set scales and labels along axes */
if (xplot[0]==UNDEF || xplot[1]==UNDEF) {
xplot[0] = Xmin(iptr) - 0.5*Dx(iptr);
xplot[1] = xplot[0] + Nx(iptr)*Dx(iptr);
}
if (Namex(iptr))
strncpy(xlabel,Namex(iptr),80);
else
strcpy (xlabel,"");
if (yplot[0]==UNDEF || yplot[1]==UNDEF) {
yplot[0] = Ymin(iptr) - 0.5*Dy(iptr);
yplot[1] = yplot[0] + Ny(iptr)*Dy(iptr);
}
if (Namey(iptr))
strncpy(ylabel,Namey(iptr),80);
else
strcpy (ylabel,"");
dprintf (1,"Plotting area x=%f:%f y=%f:%f\n",
xplot[0], xplot[1], yplot[0], yplot[1]);
if (gray) {
/* gray-scale */
dcm = Dx(iptr) / (xplot[1]-xplot[0]) * 16.0;
pl_matrix (Frame(iptr), nx, ny,
xtrans(Xmin(iptr)), ytrans(Ymin(iptr)), dcm , mmin, mmax, power, blankval);
/* color_bar (100.0,500.0,32); */
}
/* OLD ROUTINE, has to call relocate/frame ---> plcontour */
plltype(lwidth,ltype);
if (cmode==0)
contour (Frame(iptr),nx,ny,cntval,ncntval,
Xmin(iptr),
Ymin(iptr),
Xmin(iptr)+(Nx(iptr)-1)*Dx(iptr),
Ymin(iptr)+(Ny(iptr)-1)*Dy(iptr), lineto);
else if (cmode==1)
pl_contour (Frame(iptr),nx,ny,ncntval,cntval);
plltype(1,1);
/* draw axes and their labels */
xaxis ( 2.0, 2.0, 16.0, xplot, -7, xtrans, xlabel);
xaxis ( 2.0,18.0, 16.0, xplot, -7, xtrans, NULL);
yaxis ( 2.0, 2.0, 16.0, yplot, -7, ytrans, ylabel);
yaxis (18.0, 2.0, 16.0, yplot, -7, ytrans, NULL);
pltext (plabel,2.0,18.4, 0.32, 0.0); /* plot header with file name */
pltext (clabel,2.0,19.0, 0.32, 0.0); /* plot header with contour levels */
pltext (glabel,2.0,19.6, 0.32, 0.0); /* plot header with greyscale info */
pltext (tlabel,10.0,19.6,0.32, 0.0); /* time info */
pljust(1);
pltext (headline,10.0,18.4, 0.26, 0.0); /* plot extra user suplied header */
pljust(-1);
}
out_slit()
{
real xsky, ysky, vrad, inv_surden, sigma, mass;
real xslit, yslit, xplt, yplt, sinpa, cospa;
real m_max, v_min, v_max, s_max; /* local min/max */
int i, islit;
Body *bp;
for (islit=0; islit<nslit; islit++) /* reset local variables */
v0star[islit] = v1star[islit] = v2star[islit] = 0.0;
m_max = v_min = v_max = s_max = 0.0;
inv_surden = 1.0 / (slit_width*slit_cell);
sinpa = sin(pa); cospa = cos(pa);
for(bp=btab, i=0; i<nobj; bp++, i++) { /* loop over all particles */
xsky = xvar(bp,tsnap,i);
ysky = yvar(bp,tsnap,i);
vrad = zvar(bp,tsnap,i);
mass = evar(bp,tsnap,i) * inv_surden;
xsky -= origin[0]; /* translate to slit origin */
ysky -= origin[1];
xslit = -cospa*ysky + sinpa*xsky; /* and rotate to slit frame */
yslit = sinpa*ysky + cospa*xsky; /* !!! check signs !!! */
if (fabs(yslit) > 0.5*slit_width)
continue; /* not in slit */
islit = (xslit+0.5*slit_length)/slit_cell;
if (islit<0 || islit>=nslit)
continue; /* not in slit */
v0star[islit] += mass;
v1star[islit] += vrad * mass;
v2star[islit] += sqr(vrad) * mass;
} /*-- end particles loop --*/
while (nsmooth-- > 0) { /* convolution */
dprintf (0,"Convolving with %d-length beam: ",lsmooth);
for (i=0; i<lsmooth; i++)
dprintf (0,"%f ",smooth[i]);
convolve (v0star, nslit, smooth, lsmooth);
convolve (v1star, nslit, smooth, lsmooth);
convolve (v2star, nslit, smooth, lsmooth);
dprintf (0,"\n");
}
for (islit=0; islit<nslit; islit++) { /* moment analysis: M, MV and MV^2 */
if (v0star[islit]==0.0)
continue; /* no data - skip to next pixel */
v1star[islit] /= v0star[islit];
sigma = v2star[islit]/v0star[islit] - sqr(v1star[islit]);
if (sigma<0.0) { /* should never happen */
warning("islit=%d sigma^2=%e < 0 !!!\n",islit,sigma);
v2star[islit] = 0.0;
continue; /* something really wrong */
}
v2star[islit] = sqrt(sigma);
if (v0star[islit] > m_max) m_max = v0star[islit];
if (v1star[islit] < v_min) v_min = v1star[islit];
if (v1star[islit] > v_max) v_max = v1star[islit];
if (v2star[islit] > s_max) s_max = v2star[islit];
if (Qtab) {
xslit = islit*slit_cell;
printf ("%g %g %g %g\n",
xslit,v0star[islit], v1star[islit], v2star[islit]);
}
} /* for(islit) */
if (Qtab)
return(0);
plinit ("***", 0.0, 20.0, 0.0, 20.0);
/* reset default autoscales to user supplied if necessary */
if (mmax==0.0) mmax=m_max;
if (vmin==0.0) vmin=v_min;
if (vmax==0.0) vmax=v_max;
if (smax==0.0) smax=s_max;
dprintf (0,"mmax=%f vmin=%f vmax=%f smax=%f reset to:\n",m_max,v_min,v_max,s_max);
if (mmax==0) mmax=1;
if (vmin==0 && vmax==0) vmax=1;
if (smax==0) smax=1;
dprintf (0,"mmax=%f vmin=%f vmax=%f smax=%f \n",mmax, vmin, vmax, smax);
/* general plot header */
sprintf (plabel,"File: %s; var{%s,%s,%s,%s} slit{%s %s %s %s}",
infile,getparam("xvar"),getparam("yvar"),
getparam("zvar"),getparam("evar"),
getparam("origin"),getparam("pa"),getparam("width"),
getparam("length"),getparam("cell"));
pltext (plabel,2.0,18.4, 0.32, 0.0);
#if 0
if (*headline!=NULL) /* identification */
pltext (headline,2.0,19.0,0.25,0.0);
#endif
xplot[0] = -0.5*slit_length; /* PLOT1: upper panel */
xplot[1] = 0.5*slit_length;
sprintf(xlabel,"slit: {x=%s,y=%s}",getparam("xvar"),getparam("yvar"));
yplot[0]=0.0;
yplot[1]=mmax;
strcpy (ylabel,"mass surface density");
xaxis ( 2.0,12.0, 16.0, xplot, -7, xtrans, NULL);
xaxis ( 2.0,17.0, 16.0, xplot, -7, xtrans, NULL);
yaxis ( 2.0,12.0, 5.0, yplot, -3, ytransm, ylabel);
yaxis (18.0,12.0, 5.0, yplot, -3, ytransm, NULL);
for (islit=0; islit<nslit; islit++) {
xplt = xtrans (-0.5*slit_length + (islit+0.5)*slit_cell);
yplt = ytransm (v0star[islit]);
plbox (xplt, yplt, SYMBOLSIZE);
}
yplot[0]=vmin; /* PLOT2: middle panel */
yplot[1]=vmax;
strcpy (ylabel,"velocity");
xaxis (2.0, 7.0, 16.0, xplot, -7, xtrans, NULL); /* line ?? */
yaxis (2.0, 7.0, 5.0, yplot, -3, ytransv1, ylabel);
yaxis (18.0,7.0, 5.0, yplot, -3, ytransv1, NULL);
for (islit=0; islit<nslit; islit++) {
xplt = xtrans (-0.5*slit_length + (islit+0.5)*slit_cell);
yplt = ytransv1 (v1star[islit]);
plcross (xplt, yplt, SYMBOLSIZE);
}
if (vmin<0.0 || vmax>0.0) {
plltype (1,2); /* dashed line at v=0 */
plmove (xtrans(xplot[0]), ytransv1(0.0));
plline (xtrans(xplot[1]), ytransv1(0.0));
plltype (1,1);
}
yplot[0]=0.0; /* PLOT3: bottom panel */
yplot[1]=smax;
strcpy (ylabel,"velocity dispersion");
xaxis (2.0, 2.0, 16.0, xplot, -7, xtrans, xlabel);
yaxis (2.0, 2.0, 5.0, yplot, -3, ytransv2, ylabel);
yaxis (18.0,2.0, 5.0, yplot, -3, ytransv2, NULL);
for (islit=0; islit<nslit; islit++) {
xplt = xtrans (-0.5*slit_length + (islit+0.5)*slit_cell);
yplt = ytransv2 (v2star[islit]);
plcross (xplt, yplt, -SYMBOLSIZE);
}
plstop();
}
bool MPUtil::RayOBBIntersection(
DCCore::Point_3 vA, // Ray origin, in world space
DCCore::Point_3 vB, // Ray direction (NOT target position!), in world space. Must be normalize()'d.
DCCore::Point_3 aabb_min, // Minimum X,Y,Z coords of the mesh when not transformed at all.
DCCore::Point_3 aabb_max, // Maximum X,Y,Z coords. Often aabb_min*-1 if your mesh is centered, but it's not always the case.
const double* ModelMatrix, // Transformation applied to the mesh (which will thus be also applied to its bounding box)
float& intersection_distance // Output : distance between ray_origin and the intersection with the OBB
)
{
DCCore::Point_3 ray_origin = vA; // Ray origin, in world space
DCCore::Point_3 ray_direction ;
DCCore::Point_3 temp = (vB-vA);
temp.Normalize();
ray_direction = temp;
// Intersection method from Real-Time Rendering and Essential Mathematics for Games
float tMin = 0.0f;
float tMax = 100000.0f;
DCCore::Point_3 OBBposition_worldspace(0, 0, 0);
DCCore::Point_3 delta = OBBposition_worldspace - ray_origin;
// Test intersection with the 2 planes perpendicular to the OBB's X axis
{
DCCore::Point_3 xaxis(1, 0, 0);
float e = xaxis.Dot(delta);
float f = ray_direction.Dot(xaxis);
if ( fabs(f) > 0.001f ){ // Standard case
float t1 = (e+aabb_min.x)/f; // Intersection with the "left" plane
float t2 = (e+aabb_max.x)/f; // Intersection with the "right" plane
// t1 and t2 now contain distances betwen ray origin and ray-plane intersections
// We want t1 to represent the nearest intersection,
// so if it's not the case, invert t1 and t2
if (t1>t2){
float w=t1;t1=t2;t2=w; // swap t1 and t2
}
// tMax is the nearest "far" intersection (amongst the X,Y and Z planes pairs)
if ( t2 < tMax )
tMax = t2;
// tMin is the farthest "near" intersection (amongst the X,Y and Z planes pairs)
if ( t1 > tMin )
tMin = t1;
// And here's the trick :
// If "far" is closer than "near", then there is NO intersection.
// See the images in the tutorials for the visual explanation.
if (tMax < tMin )
return false;
}else{ // Rare case : the ray is almost parallel to the planes, so they don't have any "intersection"
if(-e+aabb_min.x > 0.0f || -e+aabb_max.x < 0.0f)
return false;
}
}
// Test intersection with the 2 planes perpendicular to the OBB's Y axis
// Exactly the same thing than above.
{
DCCore::Point_3 yaxis(0, 1, 0);
float e = yaxis.Dot(delta);
float f = ray_direction.Dot(yaxis);
if ( fabs(f) > 0.001f ){
float t1 = (e+aabb_min.y)/f;
float t2 = (e+aabb_max.y)/f;
if (t1>t2){float w=t1;t1=t2;t2=w;}
if ( t2 < tMax )
tMax = t2;
if ( t1 > tMin )
tMin = t1;
if (tMin > tMax)
return false;
}else{
if(-e+aabb_min.y > 0.0f || -e+aabb_max.y < 0.0f)
return false;
}
}
// Test intersection with the 2 planes perpendicular to the OBB's Z axis
// Exactly the same thing than above.
{
DCCore::Point_3 zaxis(0, 0, 1);
float e = zaxis.Dot(delta);
float f = ray_direction.Dot(zaxis);
if ( fabs(f) > 0.001f ){
float t1 = (e+aabb_min.z)/f;
float t2 = (e+aabb_max.z)/f;
if (t1>t2){float w=t1;t1=t2;t2=w;}
if ( t2 < tMax )
tMax = t2;
if ( t1 > tMin )
tMin = t1;
if (tMin > tMax)
return false;
}else{
if(-e+aabb_min.z > 0.0f || -e+aabb_max.z < 0.0f)
return false;
}
}
intersection_distance = tMin;
return true;
}
//--------------------------------------------------------------
// get avatar orientation under coordinate system
void SolarSystem::getCoordBasis(
int coordSystem,
mgMatrix4& basis)
{
// get position of moon
double angle = (2*PI*m_moonMonth)/360;
mgPoint3 moonCenter(MOON_DISTANCE*sin(angle), 0, MOON_DISTANCE*cos(angle));
// get coordinate system based on object
mgPoint3 xaxis(1.0, 0.0, 0.0);
mgPoint3 yaxis(0.0, 1.0, 0.0);
mgPoint3 zaxis(0.0, 0.0, 1.0);
switch (coordSystem)
{
case COORDS_PLANET:
// y axis points away from center of planet
yaxis = m_coordPosn;
yaxis.normalize();
// construct z axis orthonal to y
zaxis = yaxis;
zaxis.cross(mgPoint3(0.0, 1.0, 0.0));
zaxis.normalize();
// construct x axis
xaxis = yaxis;
xaxis.cross(zaxis);
xaxis.normalize();
break;
case COORDS_MOON:
// y axis points away from center of moon
yaxis = m_coordPosn;
yaxis.normalize();
// construct z axis orthonal to y
zaxis = yaxis;
zaxis.cross(mgPoint3(0.0, 1.0, 0.0));
zaxis.normalize();
// construct x axis
xaxis = yaxis;
xaxis.cross(zaxis);
xaxis.normalize();
break;
case COORDS_RING:
// y axis points towards center of ring
yaxis.x = -m_coordPosn.x;
yaxis.z = -m_coordPosn.z;
yaxis.y = 0.0;
yaxis.normalize();
// x axis is across the ring
xaxis.x = 0.0; xaxis.y = 1.0; xaxis.z = 0.0;
// construct z axis
zaxis = xaxis;
zaxis.cross(yaxis);
zaxis.normalize();
break;
case COORDS_BELT:
break;
case COORDS_SPACE:
// use default axis
break;
}
// apply object surface orientation
basis._11 = xaxis.x;
basis._21 = xaxis.y;
basis._31 = xaxis.z;
basis._12 = yaxis.x;
basis._22 = yaxis.y;
basis._32 = yaxis.z;
basis._13 = zaxis.x;
basis._23 = zaxis.y;
basis._33 = zaxis.z;
}
void CPropertiesCanvas::OnPropertyGridChange( wxPropertyGridEvent& event ) {
wxPGProperty* p = event.GetPropertyPtr();
Property* property = GetProperty(p);
if(property == NULL)return;
wxGetApp().CreateUndoPoint();
switch(property->get_property_type()){
case StringPropertyType:
{
wxString value;
if (property->Evaluate(GetProperties(), event.GetPropertyValue().GetString(), value))
{
(*(((PropertyString*)property)->m_callbackfunc))(value, ((PropertyString*)property)->m_object);
}
}
break;
case DoublePropertyType:
{
wxString value;
if (property->Evaluate(GetProperties(), event.GetPropertyValue().GetString(), value))
{
(*(((PropertyDouble*)property)->m_callbackfunc))(strtod(value.utf8_str(),NULL), ((PropertyDouble*)property)->m_object);
}
}
break;
case LengthPropertyType:
{
wxString value;
if (property->Evaluate(GetProperties(), event.GetPropertyValue().GetString(), value))
{
(*(((PropertyLength*)property)->m_callbackfunc))(strtod(value.utf8_str(),NULL) * wxGetApp().m_view_units, ((PropertyDouble*)property)->m_object);
}
}
break;
case IntPropertyType:
{
(*(((PropertyInt*)property)->m_callbackfunc))(event.GetPropertyValue().GetLong(), ((PropertyInt*)property)->m_object);
}
break;
case ColorPropertyType:
{
wxVariant var = event.GetPropertyValue();
const wxColour* wcol = wxGetVariantCast(var,wxColour);
HeeksColor col(wcol->Red(), wcol->Green(), wcol->Blue());
(*(((PropertyColor*)property)->m_callbackfunc))(col, ((PropertyColor*)property)->m_object);
}
break;
case VertexPropertyType:
{
if(p->GetName()[0] == 'x'){
((PropertyVertex*)property)->m_x[0] = event.GetPropertyValue().GetDouble();
if(((PropertyVertex*)property)->m_affected_by_view_units)((PropertyVertex*)property)->m_x[0] *= wxGetApp().m_view_units;
}
else if(p->GetName()[0] == 'y'){
((PropertyVertex*)property)->m_x[1] = event.GetPropertyValue().GetDouble();
if(((PropertyVertex*)property)->m_affected_by_view_units)((PropertyVertex*)property)->m_x[1] *= wxGetApp().m_view_units;
}
else if(p->GetName()[0] == 'z'){
((PropertyVertex*)property)->m_x[2] = event.GetPropertyValue().GetDouble();
if(((PropertyVertex*)property)->m_affected_by_view_units)((PropertyVertex*)property)->m_x[2] *= wxGetApp().m_view_units;
}
(*(((PropertyVertex*)property)->m_callbackfunc))(((PropertyVertex*)property)->m_x, ((PropertyVertex*)property)->m_object);
}
break;
case TrsfPropertyType:
{
double pos[3];
extract(((PropertyTrsf*)property)->m_trsf.TranslationPart(), pos);
gp_Dir xaxis(1, 0, 0);
xaxis.Transform(((PropertyTrsf*)p)->m_trsf);
gp_Dir yaxis(0, 1, 0);
yaxis.Transform(((PropertyTrsf*)p)->m_trsf);
double vertical_angle = 0;
double horizontal_angle = 0;
double twist_angle = 0;
CoordinateSystem::AxesToAngles(xaxis, yaxis, vertical_angle, horizontal_angle, twist_angle);
if(p->GetName()[0] == 'x'){
pos[0] = event.GetPropertyValue().GetDouble();
}
else if(p->GetName()[0] == 'y'){
pos[1] = event.GetPropertyValue().GetDouble();
}
else if(p->GetName()[0] == 'z'){
pos[2] = event.GetPropertyValue().GetDouble();
}
else if(p->GetName()[0] == 'v'){
vertical_angle = event.GetPropertyValue().GetDouble();
}
else if(p->GetName()[0] == 'h'){
horizontal_angle = event.GetPropertyValue().GetDouble();
}
else if(p->GetName()[0] == 't'){
twist_angle = event.GetPropertyValue().GetDouble();
}
CoordinateSystem::AnglesToAxes(vertical_angle, horizontal_angle, twist_angle, xaxis, yaxis);
((PropertyTrsf*)property)->m_trsf = make_matrix(make_point(pos), xaxis, yaxis);
(*(((PropertyTrsf*)property)->m_callbackfunc))(((PropertyTrsf*)property)->m_trsf, ((PropertyTrsf*)property)->m_object);
}
break;
case ChoicePropertyType:
{
(*(((PropertyChoice*)property)->m_callbackfunc))(event.GetPropertyValue().GetLong(), ((PropertyChoice*)property)->m_object);
}
break;
case CheckPropertyType:
{
(*(((PropertyCheck*)property)->m_callbackfunc))(event.GetPropertyValue().GetBool(), ((PropertyCheck*)property)->m_object);
}
break;
case ListOfPropertyType:
{
}
break;
case FilePropertyType:
{
(*(((PropertyFile*)property)->m_callbackfunc))(event.GetPropertyValue().GetString(), ((PropertyFile*)property)->m_object);
}
break;
case DirectoryPropertyType:
{
(*(((PropertyDir*)property)->m_callbackfunc))(event.GetPropertyValue().GetString(), ((PropertyDir*)property)->m_object);
}
break;
}
wxGetApp().Changed();
}
bool QuaternionTest::test()
{
// ctor tests
Quaterniond tquaternion_test( 8., 1., 6., 3. );
for ( size_t i = 0; i < 4; ++i )
{
if ( _quaternion.wxyz[i] != tquaternion_test.wxyz[i] )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
Quaterniond squaternion_test( 8., Vector3d( 1., 6., 3. ) );
for ( size_t i = 0; i < 4; ++i )
{
if ( _quaternion.wxyz[i] != squaternion_test.wxyz[i] )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
Quaterniond uquaternion_test( Matrix3d( 1., 0., 0., 0., 0., 1., 0., -1., 0. ) );
for ( size_t i = 0; i < 4; ++i )
{
if ( i == 0 )
if ( uquaternion_test.wxyz[0] != ( sqrt( 2. ) / 2. ) )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
if ( i == 1 )
if ( uquaternion_test.wxyz[1] != - ( 1 / sqrt( 2. ) ) )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
if ( i != 0 && i != 1 )
if ( uquaternion_test.wxyz[i] != 0. )
{
cout << "test: Quaternion::Quaternion( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
// set test
uquaternion_test.set ( 8., 1., 6., 3. );
for ( size_t i = 0; i < 4; ++i )
{
if ( _quaternion.wxyz[i] != uquaternion_test.wxyz[i] )
{
cout << "test: Quaternion::set( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
// operator = tests
tquaternion_test = 1.;
Quaterniond IDENTITY( 1., 0., 0., 0. );
for ( size_t i = 0; i < 4; ++i )
{
if ( IDENTITY.wxyz[i] != tquaternion_test.wxyz[i] )
{
cout << "test: Quaternion::operator=( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
uquaternion_test = _quaternion;
for ( size_t i = 0; i < 4; ++i )
{
if ( _quaternion.wxyz[i] != uquaternion_test.wxyz[i] )
{
cout << "test: Quaternion::operator=( ... ) failed!" << endl;
failed();
assert( 0 );
}
}
//quaternion == / != tests
if ( tquaternion_test != 1. )
{
cout << "test: Quaternion::operator ==() / !=() failed!" << endl;
failed();
assert( 0 );
}
if ( _quaternion != uquaternion_test )
{
cout << "test: Quaternion::operator ==() / !=() failed!" << endl;
failed();
assert( 0 );
}
if ( _quaternion == tquaternion_test )
{
cout << "test: Quaternion::operator ==() / !=() failed!" << endl;
failed();
assert( 0 );
}
//abs() test
if ( _quaternion.abs() != sqrt( 110 ) )
{
cout << "test: Quaternion::abs() failed!" << endl;
failed();
assert( 0 );
}
//conjug() test
Quaterniond cquaternion_test( 8., -1., -6., -3. );
if ( _quaternion.conjug() != cquaternion_test )
{
cout << "test: Quaternion::conjug() failed!" << endl;
failed();
assert( 0 );
}
//quaternion/scalar tests
tquaternion_test.set( 1., 2., 3., 4. );
Quaterniond vquaternion_test( 3., 6., 9., 12. );
tquaternion_test = tquaternion_test * 3.0;
if ( tquaternion_test - vquaternion_test != 0.0 )
{
cout << "test: Quaternion::operator*/( scalar ) failed!" << endl;
cout << tquaternion_test << endl;
failed();
assert( 0 );
}
// quaternion/quaternion tests
tquaternion_test.set( 1., 2., 3., 4. );
if ( tquaternion_test + tquaternion_test + tquaternion_test -vquaternion_test != 0.0f )
{
cout << "test: Quaternion::operator+-( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
squaternion_test.set( -24., 2., 28., 44 );
if ( squaternion_test != tquaternion_test * uquaternion_test )
{
cout << "test: Quaternion::operator*( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Quaterniond rquaternion_test( 8. / 110., -1. / 110., -6. / 110., -3. / 110. );
if ( _quaternion.invert() != rquaternion_test )
{
cout << "test: Quaternion::invert() failed!" << endl;
failed();
assert( 0 );
}
if ( tquaternion_test.dot( _quaternion ) != 40. )
{
cout << "test: Quaternion::dot( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Vector3d vector3_test( -30., -4., 18. );
if ( tquaternion_test.cross( _quaternion ) != vector3_test )
{
cout << "test: Quaternion::cross( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Vector3d yaxis( 1., 0., 0. );
Quaterniond svector3_test( 0., 18., -30., -4. );
Quaterniond result_test( _quaternion.rotate( M_PI / 2.f, yaxis, vector3_test ) );
if ( abs( result_test.abs() - svector3_test.abs() ) > 1e-13 )
{
cout << "test: Quaternion::rotate( T, Vector3, Vector3 ) failed!" << endl;
failed();
assert( 0 );
}
if ( ok )
cout << "Quaternion: all tests passed!" << endl;
return ok;
}
RagDoll::RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,
btScalar scale_ragdoll) : m_ownerWorld (ownerWorld) {
// setup colors
for (int i = 0; i < BODYPART_COUNT; i++) {
// ofVec4f col = ofVec4f(ofRandom(0.7, 1.0),
// ofRandom(0.5, 1.0),
// ofRandom(0.7, 1.0),
// 1.0);
ofVec4f col = ofVec4f(0.7,
0.7,
0.7,
1.0);
colors.push_back(col);
}
// Setup the geometry
m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.20));
m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.28));
m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(scale_ragdoll*0.10), btScalar(scale_ragdoll*0.05));
m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
// Setup all the rigid bodies
btTransform offset; offset.setIdentity();
offset.setOrigin(positionOffset);
// fix the rotation
double angle = (double)180*(TWO_PI/360.0);
btVector3 zaxis(0.0,0.0,1.0);
btQuaternion zquat(zaxis,angle);
btVector3 yaxis(0.0,1.0,0.0);
btQuaternion yquat(yaxis,angle);
btQuaternion quat = zquat*yquat;
offset.setRotation(quat);
btTransform transform;
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.), btScalar(0.)));
m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.2), btScalar(0.)));
m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.6), btScalar(0.)));
m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(0.65*scale_ragdoll),
btScalar(0.)));
m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(0.2*scale_ragdoll), btScalar(0.)));
m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(0.65*scale_ragdoll), btScalar(0.)));
m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(0.2*scale_ragdoll), btScalar(0.)));
m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(-0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
// Setup some damping on the m_bodies
for (int i = 0; i < BODYPART_COUNT; ++i)
{
m_bodies[i]->setDamping(0.05, 0.85);
m_bodies[i]->setDeactivationTime(0.8);
m_bodies[i]->setSleepingThresholds(1.6, 2.5);
}
///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
// Now setup the constraints
btGeneric6DofConstraint * joint6DOF;
btTransform localA, localB;
bool useLinearReferenceFrameA = true;
/// ******* SPINE HEAD ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.3f,-SIMD_EPSILON,-SIMD_PI*0.3f));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.5f,SIMD_EPSILON,SIMD_PI*0.3f));
#endif
m_joints[JOINT_SPINE_HEAD] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
}
/// *************************** ///
/// ******* LEFT SHOULDER ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(-0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
localB.getBasis().setEulerZYX(SIMD_HALF_PI,0,-SIMD_HALF_PI);
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
#endif
m_joints[JOINT_LEFT_SHOULDER] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
}
/// *************************** ///
/// ******* RIGHT SHOULDER ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
#endif
m_joints[JOINT_RIGHT_SHOULDER] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
}
/// *************************** ///
/// ******* LEFT ELBOW ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
}
/// *************************** ///
/// ******* RIGHT ELBOW ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_RIGHT_ELBOW] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
}
/// *************************** ///
/// ******* PELVIS ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.)));
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.2,-SIMD_EPSILON,-SIMD_PI*0.3));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.2,SIMD_EPSILON,SIMD_PI*0.6));
#endif
m_joints[JOINT_PELVIS_SPINE] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
}
/// *************************** ///
/// ******* LEFT HIP ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_HALF_PI*0.6f));
#endif
m_joints[JOINT_LEFT_HIP] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
}
/// *************************** ///
/// ******* RIGHT HIP ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_HALF_PI*0.6f));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_RIGHT_HIP] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
}
/// *************************** ///
/// ******* LEFT KNEE ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
//
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_LEFT_KNEE] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
}
/// *************************** ///
/// ******* RIGHT KNEE ******** ///
{
localA.setIdentity(); localB.setIdentity();
localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
#ifdef RIGID
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_RIGHT_KNEE] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
}
/// *************************** ///
}
void nemo_main()
{
int i, dir, nrad, npots=0, ltype, ndim = NDIM, nx, ny, ns, ndat, nret;
int cols[4], n, idx, idx_max;
real pmax, symsize, rr, omk_max = 0.0, omk_rmax;
real rad[MAXPT], *vel, *vel1, *vel2, *vel3, *vel4, *curve;
real *ome, *kap, *opk, *omk, r0l[MAXPT+2], omega, *f;
real inrad[MAXPT], invel[MAXPT], inrade[MAXPT], invele[MAXPT];
double pos[3], acc[3], pot, time = 0.0;
/* char *fmt, s[20], pfmt[256]; */
char headline[256], fmt1[80];
string axis, mode, infile, plotlabel;
stream instr;
bool Qtab, Qplot, Qome, Qvel, Qlv, Qin, QoILR;
mode = getparam("mode");
n = getiparam("n");
plotlabel = getparam("headline");
sprintf(fmt1,"%s ",getparam("format"));
Qome = (*mode == 'o'); /* options are: velocity|omega|lv */
Qlv = (*mode == 'l');
Qvel = (*mode == 'v');
Qtab = getbparam("tab");
Qplot = getbparam("plot");
infile = getparam("in");
Qin = (*infile != 0);
if (Qin) {
nret = nemoinpi(getparam("cols"),cols,4);
if (nret<0 || nret > 4) error("cols= requires 4 numbers");
for (i=nret; i<4; i++)
cols[i] = 0;
instr = stropen(infile,"r");
ndat = read_table(instr,MAXPT,inrad,invel,inrade,invele,cols);
strclose(instr);
}
mypot1 = get_potential(getparam("name1"),getparam("pars1"),getparam("file1"));
omega = get_pattern();
dprintf(0,"Pattern speed: %f\n",omega);
mypot2 = get_potential(getparam("name2"),getparam("pars2"),getparam("file2"));
mypot3 = get_potential(getparam("name3"),getparam("pars3"),getparam("file3"));
mypot4 = get_potential(getparam("name4"),getparam("pars4"),getparam("file4"));
headline[0] = '\0'; /* accumulate headline */
if (mypot1) {
strcat(headline,getparam("name1"));
strcat(headline,"(");
strcat(headline,getparam("pars1"));
strcat(headline,")");
npots++;
}
if (mypot2) {
strcat(headline,getparam("name2"));
strcat(headline,"(");
strcat(headline,getparam("pars2"));
strcat(headline,") ");
npots++;
}
if (mypot3) {
strcat(headline,getparam("name3"));
strcat(headline,"(");
strcat(headline,getparam("pars3"));
strcat(headline,") ");
npots++;
}
if (mypot4) {
strcat(headline,getparam("name4"));
strcat(headline,"(");
strcat(headline,getparam("pars4"));
strcat(headline,")");
npots++;
}
nrad = nemoinpr(getparam("radii"),rad,MAXPT); /* get radii */
if (nrad <= 0)
warning("Using %d radii is not very productive",nrad);
vel = (real *) allocate(sizeof(real) * nrad); /* allocate stuff */
vel1 = (real *) allocate(sizeof(real) * nrad);
vel2 = (real *) allocate(sizeof(real) * nrad);
vel3 = (real *) allocate(sizeof(real) * nrad);
vel4 = (real *) allocate(sizeof(real) * nrad);
if (Qome) {
ome = (real *) allocate(4 * sizeof(real) * nrad); /* plus spline */
kap = (real *) allocate(sizeof(real) * nrad);
opk = (real *) allocate(sizeof(real) * nrad);
omk = (real *) allocate(sizeof(real) * nrad);
}
axis = getparam("axis");
dir = 0;
if (*axis == 'x') dir=0;
if (*axis == 'y') dir=1;
if (*axis == 'z') dir=2;
if (dir>NDIM) error("Axis %s not supported in NDIM=%d",axis,NDIM);
pmax = 0.0;
for (i=0; i<nrad; i++) { /* loop to compute */
CLRV(pos); /* clear positions */
pos[dir] = rad[i]; /* set the right axis */
vel[i] = 0.0;
if (mypot1) {
CLRV(acc);
(*mypot1) (&ndim,pos,acc,&pot,&time);
vel1[i] = -rad[i] * acc[dir];
vel[i] += vel1[i];
vel1[i] = sqrt(vel1[i]);
}
if (mypot2) {
CLRV(acc);
(*mypot2) (&ndim,pos,acc,&pot,&time);
vel2[i] = -rad[i] * acc[dir];
vel[i] += vel2[i];
vel2[i] = sqrt(vel2[i]);
}
if (mypot3) {
CLRV(acc);
(*mypot3) (&ndim,pos,acc,&pot,&time);
vel3[i] = -rad[i] * acc[dir];
vel[i] += vel3[i];
vel3[i] = sqrt(vel3[i]);
}
if (mypot4) {
CLRV(acc);
(*mypot4) (&ndim,pos,acc,&pot,&time);
vel4[i] = -rad[i] * acc[dir];
vel[i] += vel4[i];
vel4[i] = sqrt(vel4[i]);
}
vel[i] = sqrt(vel[i]);
}
if (Qome) {
lindblad(nrad,rad,vel,ome,kap,opk,omk,n);
if (omega> 0.0) { /* compute resonances */
f = opk;
idx = nrad-1;
if (omega < f[idx]) {
warning("Radii not far enough out for OLR: %g",f[idx]);
f = ome;
if (omega < f[idx]) {
warning("Radii not far enough out for CR: %g",f[idx]);
f = omk;
}
}
QoILR = FALSE;
for(; idx>0; idx--) {
if (omk[idx] > omk_max) {
idx_max = idx;
omk_max = omk[idx];
}
if (f==omk) {
if (QoILR) {
if (omega < f[idx]) continue;
} else {
if (omega > f[idx]) continue;
}
} else {
if (omega > f[idx]) continue;
}
/* found a resonance: */
rr = rad[idx] + (rad[idx+1]-rad[idx])*
(omega-f[idx])/(f[idx+1]-f[idx]);
if (f == omk) {
#if 0
if (QoILR) {
dprintf(0,"iILR: %g\n",rr);
break;
} else {
dprintf(0,"oILR: %g\n",rr);
QoILR = TRUE;
}
#endif
} else if (f == ome) {
dprintf(0,"CR: %g\n",rr);
f = omk;
} else if (f == opk) {
dprintf(0,"OLR: %g\n",rr);
f = ome;
} else
error("impossble resonance");
}
peak(nrad,rad,omk,idx_max,1, &omk_rmax, &omk_max);
dprintf(0,"OMK_max: %g\n",omk_max);
dprintf(0,"OMK_rmax: %g\n",omk_rmax);
if (omega < omk_max) { /* search for ILR */
for (idx=idx_max; idx<nrad; idx++) {
if (omega > omk[idx]) {
rr = rad[idx-1] + (rad[idx]-rad[idx-1])*
(omega-f[idx-1])/(f[idx]-f[idx-1]);
dprintf(0,"oILR: %g\n",rr);
break;
}
}
for (idx=idx_max; idx>0; idx--) {
if (omega > omk[idx]) {
rr = rad[idx] + (rad[idx+1]-rad[idx])*
(omega-f[idx])/(f[idx+1]-f[idx]);
dprintf(0,"iILR: %g\n",rr);
break;
}
}
}
}
}
for (i=0; i<nrad; i++) { /* loop to print */
if (Qtab) {
printf(fmt1,rad[i]);
printf(fmt1,vel[i]);
}
if (Qtab && npots>1 && !Qome) {
if (mypot1) printf(fmt1,vel1[i]);
if (mypot2) printf(fmt1,vel2[i]);
if (mypot3) printf(fmt1,vel3[i]);
if (mypot4) printf(fmt1,vel4[i]);
}
if (Qtab && Qome) {
printf(fmt1,ome[i]);
printf(fmt1,kap[i]);
printf(fmt1,opk[i]);
printf(fmt1,omk[i]);
}
if (Qtab) printf("\n");
if (Qome)
pmax = MAX(pmax,opk[i]);
else
pmax = MAX(pmax,vel[i]);
}
if (Qin && Qvel)
goodness(nrad,rad,vel,ndat,inrad,invel,(cols[3]>0?invele:NULL));
if (Qplot) {
plinit("***",0.0,20.0,0.0,20.0); /* open device */
nx = nemoinpr(getparam("xrange"),xplot,2); /* get xrange in plot */
switch(nx) {
case 0:
xplot[0] = rad[0];
case 1:
xplot[1] = rad[nrad-1];
break;
case 2:
break;
default:
warning("xrange= only accepts two values");
break;
}
ny = nemoinpr(getparam("yrange"),yplot,2); /* get yrange in plot */
switch(ny) {
case 0:
yplot[0] = 0.0;
yplot[1] = 1.1 * pmax; /* extra 10% for egde */
break;
case 1:
yplot[1] = 1.1 * pmax; /* extra 10% for egde */
break;
case 2:
break;
default:
warning("yrange= only accepts two values");
break;
}
xaxis ( 2.0, 2.0, 16.0, xplot, -7, xtrans, "R"); /* plot axes */
xaxis ( 2.0,18.0, 16.0, xplot, -7, xtrans, NULL);
if (Qome)
yaxis ( 2.0, 2.0, 16.0, yplot, -7, ytrans, "[V/R]");
else
yaxis ( 2.0, 2.0, 16.0, yplot, -7, ytrans, "V");
yaxis (18.0, 2.0, 16.0, yplot, -7, ytrans, NULL);
if (*plotlabel)
pltext(plotlabel,2.0,18.5,0.5,0.0);
else
pltext(headline,2.0,18.5,0.35,0.0);
if (*plotmsg)
pltext(plotmsg,8.0,2.5,0.25,0.0);
curve = (Qome ? ome : vel); /* assign first curve */
plltype(3,1); /* thick solid line */
plmove(xtrans(rad[0]),ytrans(curve[0]));
for (i=1; i<nrad; i++)
plline(xtrans(rad[i]),ytrans(curve[i]));
if (Qome) { /* if Lindblad - plot omk, opk */
plltype(1,1); /* all regular solid lines */
plmove(xtrans(rad[0]), ytrans(omk[0]));
for (i=1; i<nrad; i++)
plline(xtrans(rad[i]),ytrans(omk[i]));
plmove(xtrans(rad[0]), ytrans(opk[0]));
for (i=1; i<nrad; i++)
plline(xtrans(rad[i]),ytrans(opk[i]));
} else if (npots>1) { /* if velocity and > 1 component */
ltype = 1;
if (mypot1) {
plltype(1,++ltype);
plmove(xtrans(rad[0]),ytrans(vel1[0]));
for (i=1; i<nrad; i++)
plline(xtrans(rad[i]),ytrans(vel1[i]));
}
if (mypot2) {
plltype(1,++ltype);
plmove(xtrans(rad[0]),ytrans(vel2[0]));
for (i=1; i<nrad; i++)
plline(xtrans(rad[i]),ytrans(vel2[i]));
}
if (mypot3) {
plltype(1,++ltype);
plmove(xtrans(rad[0]),ytrans(vel2[0]));
for (i=1; i<nrad; i++)
plline(xtrans(rad[i]),ytrans(vel3[i]));
}
if (mypot4) {
plltype(1,++ltype);
plmove(xtrans(rad[0]),ytrans(vel2[0]));
for (i=1; i<nrad; i++)
plline(xtrans(rad[i]),ytrans(vel4[i]));
}
}
plltype(1,1);
symsize = 0.1;
if (Qin && Qvel) { /* if input file with velocities */
for (i=0; i<ndat; i++)
plbox(xtrans(inrad[i]),ytrans(invel[i]),symsize);
if (cols[3]>0) { /* if error bars in radius */
for (i=0; i<ndat; i++) {
plmove(xtrans(inrad[i]-inrade[i]),ytrans(invel[i]));
plline(xtrans(inrad[i]+inrade[i]),ytrans(invel[i]));
}
}
if (cols[4]>0) { /* if error bars in velocity */
for (i=0; i<ndat; i++) {
plmove(xtrans(inrad[i]),ytrans(invel[i]-invele[i]));
plline(xtrans(inrad[i]),ytrans(invel[i]+invele[i]));
}
}
} else if (Qin && Qome) { /* if input file with omega */
for (i=0; i<ndat; i++)
plbox(xtrans(inrad[i]),ytrans(invel[i]/inrad[i]),symsize);
}
plstop();
} /* if plot vel/ome */
if (Qlv) {
ns = nemoinpr(getparam("r0l"),r0l,MAXPT+2) - 2;
if (ns < 0)
error("r0l= needs at least two values: r0 and l");
else if (ns==0)
warning("r0l= no lv-radii array supplied");
lv(nrad,rad,vel,r0l[0],r0l[1],ns,&r0l[2]);
}
}
local void histogram(void)
{
int i,j,k, l, kmin, kmax, lcount = 0;
real count[MAXHIST], under, over;
real xdat,ydat,xplt,yplt,dx,r,sum,sigma2, q, qmax;
real mean, sigma, mad, skew, kurt, h3, h4, lmin, lmax, median;
real rmean, rsigma, rrange[2];
Moment m;
dprintf (0,"read %d values\n",npt);
dprintf (0,"min and max value in column(s) %s: %g %g\n",getparam("xcol"),xmin,xmax);
if (!Qauto) {
xmin = xrange[0];
xmax = xrange[1];
dprintf (0,"min and max value reset to : %g %g\n",xmin,xmax);
lmin = xmax;
lmax = xmin;
for (i=0; i<npt; i++) {
if (x[i]>xmin && x[i]<=xmax) {
lmin = MIN(lmin, x[i]);
lmax = MAX(lmax, x[i]);
}
}
dprintf (0,"min and max value in range : %g %g\n",lmin,lmax);
}
for (k=0; k<nsteps; k++)
count[k] = 0; /* init histogram */
under = over = 0;
ini_moment(&m, 4, Qrobust||Qmad ? npt : 0);
for (i=0; i<npt; i++) {
if (Qbin) {
k=ring_index(nsteps,bins,x[i]);
} else {
if (xmax != xmin)
k = (int) floor((x[i]-xmin)/(xmax-xmin)*nsteps);
else
k = 0;
dprintf(2,"%d k=%d %g\n",i,k,x[i]);
}
if (k==nsteps && x[i]==xmax) k--; /* include upper edge */
if (k<0) { under++; continue; }
if (k>=nsteps) { over++; continue; }
count[k] = count[k] + 1;
dprintf (4,"%d : %f %d\n",i,x[i],k);
accum_moment(&m,x[i],1.0);
}
if (under > 0) error("bug: under = %d",under);
if (over > 0) error("bug: over = %d",over);
under = Nunder;
over = Nover;
mean = mean_moment(&m);
sigma = sigma_moment(&m);
skew = skewness_moment(&m);
kurt = kurtosis_moment(&m);
h3 = h3_moment(&m);
h4 = h4_moment(&m);
if (Qmad) mad = mad_moment(&m);
if (nsigma > 0) { /* remove outliers iteratively, starting from the largest */
iq = (int *) allocate(npt*sizeof(int));
for (i=0; i<npt; i++) {
#if 1
iq[i] = x[i] < xmin || x[i] > xmax;
#else
iq[i] = 0;
#endif
}
lcount = 0;
do { /* loop to remove outliers one by one */
qmax = -1.0;
for (i=0, l=-1; i<npt; i++) { /* find largest deviation from current mean */
if (iq[i]) continue; /* but skip previously flagged points */
q = (x[i]-mean)/sigma;
q = ABS(q);
if (q > qmax) {
qmax = q;
l = i;
}
}
if (qmax > nsigma) {
lcount++;
iq[l] = 1;
decr_moment(&m,x[l],1.0);
mean = mean_moment(&m);
sigma = sigma_moment(&m);
skew = skewness_moment(&m);
kurt = kurtosis_moment(&m);
h3 = h3_moment(&m);
h4 = h4_moment(&m);
if (Qmad) mad = mad_moment(&m);
dprintf(1,"%d/%d: removing point %d, m/s=%g %g qmax=%g\n",
lcount,npt,l,mean,sigma,qmax);
if (sigma <= 0) {
/* RELATED TO presetting MINMAX */
warning("BUG");
accum_moment(&m,x[l],1.0);
mean = mean_moment(&m);
sigma = sigma_moment(&m);
skew = skewness_moment(&m);
kurt = kurtosis_moment(&m);
h3 = h3_moment(&m);
h4 = h4_moment(&m);
dprintf(1,"%d/%d: LAST removing point %d, m/s=%g %g qmax=%g\n",
lcount,npt,l,mean,sigma,qmax);
break;
}
} else
dprintf(1,"%d/%d: keeping point %d, m/s=%g %g qmax=%g\n",
lcount,npt,l,mean,sigma,qmax);
/* if (lcount > npt/2) break; */
} while (qmax > nsigma);
dprintf(0,"Removed %d/%d points for nsigma=%g\n",lcount,npt,nsigma);
/* @algorithm left shift array values from mask array */
/* now shift all points into the array, decreasing npt */
/* otherwise the median is not correctly computed */
for (i=0, k=0; i<npt; i++) {
dprintf(1,"iq->%d\n",iq[i]);
if (iq[i]) k++;
if (k==0) continue; /* ?? */
if (i-k < 0) continue;
dprintf(1,"SHIFT: %d <= %d\n",i-k,i);
x[i-k] = x[i];
}
npt -= lcount; /* correct for outliers */
free(iq);
} /* nsigma > 0 */
if (npt != n_moment(&m))
error("Counting error, probably in removing outliers...");
dprintf (0,"Number of points : %d\n",npt);
if (npt>1)
dprintf (0,"Mean and dispersion : %g %g %g\n",mean,sigma,sigma/sqrt(npt-1.0));
else
dprintf (0,"Mean and dispersion : %g %g 0.0\n",mean,sigma);
if (Qmad) dprintf (0,"MAD : %g\n",mad);
dprintf (0,"Skewness and kurtosis: %g %g\n",skew,kurt);
dprintf (0,"h3 and h4 : %g %g\n", h3, h4);
if (Qmedian) {
if (npt % 2)
median = x[(npt-1)/2];
else
median = 0.5 * (x[npt/2] + x[npt/2-1]);
dprintf (0,"Median : %g\n",median);
} else if (Qtorben) {
median = median_torben(npt,x,xmin,xmax);
dprintf (0,"Median_torben : %g\n",median);
}
dprintf (0,"Sum : %g\n",show_moment(&m,1));
if (Qrobust) {
compute_robust_moment(&m);
rmean = mean_robust_moment(&m);
rsigma = sigma_robust_moment(&m);
robust_range(&m, rrange);
dprintf (0,"Robust N : %d\n",n_robust_moment(&m));
dprintf (0,"Robust Mean Disp : %g %g\n",rmean,rsigma);
dprintf (0,"Robust Range : %g %g\n",rrange[0],rrange[1]);
if (outstr) {
for (i=0; i<npt; i++) {
if (x[i]<rrange[0] || x[i]>rrange[1]) continue;
fprintf(outstr,"%g %d\n",x[i],i+1);
}
}
}
if (lcount > 0) {
warning("Recompute histogram because of outlier removals");
/* recompute histogram if we've lost some outliers */
for (k=0; k<nsteps; k++)
count[k] = 0; /* init histogram */
under = over = 0;
for (i=0; i<npt; i++) {
if (xmax != xmin)
k = (int) floor((x[i]-xmin)/(xmax-xmin)*nsteps);
else
k = 0;
if (k==nsteps && x[i]==xmax) k--; /* include upper edge */
if (k<0) { under++; continue; }
if (k>=nsteps) { over++; continue; }
count[k] = count[k] + 1;
dprintf (4,"%d : %f %d\n",i,x[i],k);
}
if (under > 0 || over > 0) error("under=%d over=%d in recomputed histo",under,over);
}
dprintf (3,"Histogram values : \n");
dx=(xmax-xmin)/nsteps;
kmax=0;
sum=0.0;
for (k=0; k<nsteps; k++) {
sum = sum + dx*count[k];
if (ylog) {
if (count[k]>0.0)
count[k] = log10(count[k]);
else
count[k] = -1.0;
}
if (count[k]>kmax)
kmax=count[k];
dprintf (3,"%f ",count[k]);
if (Qcumul) {
if (k==0)
count[k] += under;
else
count[k] += count[k-1];
}
}
dprintf (3,"\n");
sigma2 = 2.0 * sigma * sigma; /* gaussian */
sum /= sigma * sqrt(2*PI); /* scaling factor for equal area gauss */
if (ylog && over>0) over = log10(over);
if (ylog && under>0) under = log10(under);
kmax *= 1.1; /* add 10% */
if (Qcumul) kmax = npt;
if (maxcount>0) /* force scaling by user ? */
kmax=maxcount;
if (Qtab) {
maxcount = 0;
for (k=0; k<nsteps; k++)
maxcount = MAX(maxcount,count[k]);
if (maxcount>0)
r = 29.0/maxcount;
else
r = 1.0;
printf(" Bin Value Number\n");
printf(" Underflow %d\n",Nunder);
for (k=0; k<nsteps; k++) {
j = (int) (r*count[k]) + 1;
if (ylog) printf("%3d %13.6g %13.6g ",
k+1, xmin+(k+0.5)*dx, count[k]);
else printf("%3d %13.6g %8d ",
k+1, xmin+(k+0.5)*dx, (int)count[k]);
while (j-- > 0) printf("*");
printf("\n");
}
printf(" Overflow %d\n",Nover);
stop(0);
}
#ifdef YAPP
/* PLOTTING */
plinit("***",0.0,20.0,0.0,20.0);
xplot[0] = xmin;
xplot[1] = xmax;
yplot[0] = 0.0;
yplot[1] = (real) kmax;
xaxis (2.0, 2.0, 16.0, xplot, -7, xtrans, xlab);
xaxis (2.0, 18.0,16.0, xplot, -7, xtrans, NULL);
yaxis (2.0, 2.0, 16.0, yplot, -7, ytrans, ylab);
yaxis (18.0, 2.0, 16.0, yplot, -7, ytrans, NULL);
pljust(-1); /* set to left just */
pltext(input,2.0,18.2,0.32,0.0); /* filename */
pljust(1);
pltext(headline,18.0,18.2,0.24,0.0); /* headline */
pljust(-1); /* return to left just */
xdat=xmin;
dx=(xmax-xmin)/nsteps;
plmove(xtrans(xmin),ytrans(0.0));
for (k=0; k<nsteps; k++) { /* nsteps= */
xplt = xtrans(xdat);
yplt = ytrans((real)count[k]);
plline (xplt,yplt);
xdat += dx;
xplt = xtrans(xdat);
plline (xplt,yplt);
}
plline(xplt,ytrans(0.0));
for (i=0; i<nxcoord; i++) {
plmove(xtrans(xcoord[i]),ytrans(yplot[0]));
plline(xtrans(xcoord[i]),ytrans(yplot[1]));
}
if (Qgauss) { /* plot model and residuals */
if (ylog)
plmove(xtrans(xmin),ytrans(-1.0));
else
plmove(xtrans(xmin),ytrans(0.0));
for (k=0; k<100; k++) {
xdat = xmin + (k+0.5)*(xmax-xmin)/100.0;
ydat = sum * exp( -sqr(xdat-mean)/sigma2);
if (ylog) ydat = log10(ydat);
plline(xtrans(xdat), ytrans(ydat));
}
}
if (Qresid) {
plltype(0,2); /* dotted residuals */
xdat = xmin+0.5*dx;
dprintf(1,"# residuals from gauss\n");
for (k=0; k<nsteps; k++, xdat +=dx) {
ydat = sum * exp( -sqr(xdat-mean)/sigma2);
dprintf(1,"%g %g %g\n",xdat,count[k],ydat);
if (ylog) ydat = log10(ydat);
ydat = count[k] - ydat;
if (k==0)
plmove(xtrans(xdat),ytrans(ydat));
else
plline(xtrans(xdat),ytrans(ydat));
}
plltype(0,1); /* back to normal line type */
}
plstop();
#endif
}
void
openplt(long n0, long n1, int sq0off, int sq1off,
char *xtitle, char *ytitle)
{
char *getenv(), *sptr;
time_t tt;
tt = time(NULL);
if (strlen(lvstr)>0) {
sscanf(lvstr,"%lg %lg %lg",&elinval[0],&elinval[1],&elinval[2]);
}
else if ((sptr=getenv("LINEVAL"))!=NULL && strlen(sptr)>0) {
sscanf(sptr,"%lg %lg %lg",&elinval[0],&elinval[1],&elinval[2]);
}
printf("%%!PS-Adobe-2.0\n");
printf("%%%%Creator: plalign\n");
printf("%%%%CreationDate: %s",ctime(&tt));
printf("%%%%DocumentFonts: Courier\n");
printf("%%%%Pages: 1\n");
printf("%%%%BoundingBox: 18 18 564 588\n");
printf("%%%%EndComments\n");
printf("%%%%EndProlog\n");
printf("%%%%Page: 1 1\n");
printf("/Courier findfont 14 scalefont setfont\n");
printf("/vcprint { gsave 90 rotate dup stringwidth pop 2 div neg 0 rmoveto\n");
printf("show newpath stroke grestore } def\n");
printf("/hcprint { gsave dup stringwidth pop 2 div neg 0 rmoveto\n");
printf("show newpath stroke grestore } def\n");
printf("/hrprint { gsave dup stringwidth pop neg 0 rmoveto\n");
printf("show newpath stroke grestore } def\n");
printf("/hprint { gsave show newpath stroke grestore } def\n");
pmaxx = n0;
pmaxy = n1;
fxscal = (double)(max_x-1)/(double)(n1);
fyscal = (double)(max_y-1)/(double)(n0);
if (fxscal > fyscal) fxscal = fyscal;
else fyscal = fxscal;
if (fyscal * n0 < (double)max_y/5.0)
fyscal = (double)(max_y-1)/((double)(n0)*5.0);
fxscal *= 0.9; fxoff = (double)(max_x-1)/11.0;
fyscal *= 0.9; fyoff = (double)(max_y-1)/11.0;
printf("%% openplt - frame - %ld %ld\n", n0, n1);
linetype(0);
printf("gsave\n");
printf("currentlinewidth 1.5 mul setlinewidth\n");
newline();
move(SX(0),SY(0));
draw(SX(0),SY(n1+1));
draw(SX(n0+1),SY(n1+1));
draw(SX(n0+1),SY(0));
draw(SX(0),SY(0));
clsline(n0,n1,100000);
printf("grestore\n");
xaxis(n0,sq1off, xtitle);
yaxis(n1,sq0off, ytitle);
legend();
printf("%% openplt done\n");
}
bool OBBRayPicking::testRayOBBIntersection(
glm::vec3 ray_origin, // Ray origin, in world space
glm::vec3 ray_direction, // Ray direction (NOT target position!), in world space. Must be normalize()'d.
glm::vec3 aabb_min, // Minimum X,Y,Z coords of the mesh when not transformed at all.
glm::vec3 aabb_max, // Maximum X,Y,Z coords. Often aabb_min*-1 if your mesh is centered, but it's not always the case.
const glm::mat4 &ModelMatrix, // Transformation applied to the mesh (which will thus be also applied to its bounding box)
const glm::vec3 &position, // the position because model matrix doesnt do anything in this game "right now"
float &intersection_distance // Output : distance between ray_origin and the intersection with the OBB
){
// Intersection method from Real-Time Rendering and Essential Mathematics for Games
float tMin = 0.0f;
float tMax = 100000.0f;
glm::vec3 OBBposition_worldspace(ModelMatrix[3].x * position.x, ModelMatrix[3].y * position.y, ModelMatrix[3].z * position.z);
glm::vec3 delta = OBBposition_worldspace - ray_origin;
// Test intersection with the 2 planes perpendicular to the OBB's X axis
{
glm::vec3 xaxis(ModelMatrix[0].x, ModelMatrix[0].y, ModelMatrix[0].z);
float e = glm::dot(xaxis, delta);
float f = glm::dot(ray_direction, xaxis);
if (fabs(f) > 0.001f)
{ // Standard case
float t1 = (e + aabb_min.x) / f; // Intersection with the "left" plane
float t2 = (e + aabb_max.x) / f; // Intersection with the "right" plane
// t1 and t2 now contain distances betwen ray origin and ray-plane intersections
// We want t1 to represent the nearest intersection,
// so if it's not the case, invert t1 and t2
if (t1>t2){
float w = t1; t1 = t2; t2 = w; // swap t1 and t2
}
// tMax is the nearest "far" intersection (amongst the X,Y and Z planes pairs)
if (t2 < tMax)
tMax = t2;
// tMin is the farthest "near" intersection (amongst the X,Y and Z planes pairs)
if (t1 > tMin)
tMin = t1;
// And here's the trick :
// If "far" is closer than "near", then there is NO intersection.
// See the images in the tutorials for the visual explanation.
if (tMax < tMin)
return false;
}
else
{ // Rare case : the ray is almost parallel to the planes, so they don't have any "intersection"
if (-e + aabb_min.x > 0.0f || -e + aabb_max.x < 0.0f)
return false;
}
}
// Test intersection with the 2 planes perpendicular to the OBB's Y axis
// Exactly the same thing than above.
{
glm::vec3 yaxis(ModelMatrix[1].x, ModelMatrix[1].y, ModelMatrix[1].z);
float e = glm::dot(yaxis, delta);
float f = glm::dot(ray_direction, yaxis);
if (fabs(f) > 0.001f){
float t1 = (e + aabb_min.y) / f;
float t2 = (e + aabb_max.y) / f;
if (t1>t2){ float w = t1; t1 = t2; t2 = w; }
if (t2 < tMax)
tMax = t2;
if (t1 > tMin)
tMin = t1;
if (tMin > tMax)
return false;
}
else{
if (-e + aabb_min.y > 0.0f || -e + aabb_max.y < 0.0f)
return false;
}
}
// Test intersection with the 2 planes perpendicular to the OBB's Z axis
// Exactly the same thing than above.
{
glm::vec3 zaxis(ModelMatrix[2].x, ModelMatrix[2].y, ModelMatrix[2].z);
float e = glm::dot(zaxis, delta);
float f = glm::dot(ray_direction, zaxis);
if (fabs(f) > 0.001f){
float t1 = (e + aabb_min.z) / f;
float t2 = (e + aabb_max.z) / f;
if (t1>t2){ float w = t1; t1 = t2; t2 = w; }
if (t2 < tMax)
tMax = t2;
if (t1 > tMin)
tMin = t1;
if (tMin > tMax)
return false;
}
else{
if (-e + aabb_min.z > 0.0f || -e + aabb_max.z < 0.0f)
return false;
}
}
intersection_distance = tMin;
return true;
}
int main(){
LHDlib::RhoTable rhoTable;
// rhoTable.read("C:\\Users\\KeisukeFujii\\Dropbox\\visual_studio\\LHDdata\\flx\\lhd-r375q100b000a8020.flx");
rhoTable.read("C:\\Users\\KeisukeFujii\\Dropbox\\visual_studio\\LHDdata\\flx\\lhd-r390q100g120b000a8020.flx");
size_t size = 100;
std::vector<double> R_10(size), Z_10(size);
std::vector<double> R_11(size), Z_11(size);
std::vector<double> R_12(size), Z_12(size);
for (size_t i = 0; i < size; ++i){
double theta = 2.0*myconst::pi / size*i;
rhoTable.getRZfromRhoThetaPhi(1.0, theta, myconst::pi/10.0, R_10[i], Z_10[i]);
rhoTable.getRZfromRhoThetaPhi(1.1, theta, myconst::pi/10.0, R_11[i], Z_11[i]);
rhoTable.getRZfromRhoThetaPhi(1.2, theta, myconst::pi/10.0, R_12[i], Z_12[i]);
}
IGORdata::write_itx(R_10, Z_10, "RZ_10.itx", "RR_10", "ZZ_10");
IGORdata::write_itx(R_11, Z_11, "RZ_11.itx", "RR_11", "ZZ_11");
IGORdata::write_itx(R_12, Z_12, "RZ_12.itx", "RR_12", "ZZ_12");
size = 48;
std::vector<double> rho(size), Vp(size), dVpdrho(size), dVdrho(size);
for (size_t i = 0; i < size; ++i){
rho[i] = 1.2 / size*i;
Vp[i] = rhoTable.get_Vp(0.0, rho[i]);
dVpdrho[i] = rhoTable.get_dVpdrho(rho[i]);
dVdrho[i] = rhoTable.get_dVdrho(rho[i]);
}
IGORdata::write_itx(rho, Vp, "rho_Vp.itx", "rho", "Vp");
IGORdata::write_itx(dVpdrho, dVdrho, "dVdrho.itx", "dVpdrho", "dVdrho");
size_t xsize = 100, ysize(101);
std::vector<double> xaxis(xsize), yaxis(ysize);
std::vector<std::vector<double>> rhoM(xsize), theta(xsize), drhodx(xsize), drhody(xsize), drhodz(xsize);
for (size_t i = 0; i < xsize; ++i)
xaxis[i] = 2.5 + 2.5 / xsize * i;
for (size_t i = 0; i < ysize; ++i)
yaxis[i] = -1.0 + 2.0 / ysize * i;
for (size_t i = 0; i < xsize; ++i){
for (size_t j = 0; j < ysize; ++j){
double rho_, theta_;
double drhodx_[3];
rhoTable.get_rho_drho(xaxis[i], yaxis[j], myconst::pi*0.1, &rho_, &theta_, drhodx_);
rhoM[i].push_back(rho_);
theta[i].push_back(theta_);
drhodx[i].push_back(drhodx_[0]);
drhody[i].push_back(drhodx_[1]);
drhodz[i].push_back(drhodx_[2]);
}
}
IGORdata::write_edgeVector(xaxis, "xaxis.itx", "xaxis");
IGORdata::write_edgeVector(yaxis, "yaxis.itx", "yaxis");
IGORdata::write_itx(rhoM, "rhoMatrix.itx", "rhoMatrix");
IGORdata::write_itx(theta, "theta.itx", "theta");
IGORdata::write_itx(drhodx, "drhodx.itx", "drhodx");
IGORdata::write_itx(drhody, "drhody.itx", "drhody");
IGORdata::write_itx(drhodz, "drhodz.itx", "drhodz");
return 0;
}
void CPropertiesCanvas::AddProperty(Property* p, wxPGProperty* parent_prop)
{
switch(p->get_property_type()){
case StringPropertyType:
{
wxPGProperty *new_prop = wxStringProperty(p->GetShortString(),wxPG_LABEL, ((PropertyString*)p)->m_initial_value);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p);
if(p->m_highlighted)m_pg->SetPropertyBackgroundColour(new_prop->GetId(), wxColour(71, 141, 248));
}
break;
case DoublePropertyType:
case LengthPropertyType:
{
wxString initial_value;
initial_value << ((PropertyDouble*)p)->m_initial_value;
// wxPGProperty *new_prop = wxFloatProperty(p->GetShortString(),wxPG_LABEL, ((PropertyDouble*)p)->m_initial_value);
wxPGProperty *new_prop = wxStringProperty(p->GetShortString(),wxPG_LABEL, initial_value);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p);
}
break;
case IntPropertyType:
{
wxPGProperty *new_prop = wxIntProperty(p->GetShortString(),wxPG_LABEL, ((PropertyInt*)p)->m_initial_value);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p);
}
break;
case ColorPropertyType:
{
HeeksColor& col = ((PropertyColor*)p)->m_initial_value;
wxColour wcol(col.red, col.green, col.blue);
wxPGProperty *new_prop = wxColourProperty(p->GetShortString(),wxPG_LABEL, wcol);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p);
}
break;
case ChoicePropertyType:
{
wxArrayString array_string;
std::list< wxString >::iterator It;
for(It = ((PropertyChoice*)p)->m_choices.begin(); It != ((PropertyChoice*)p)->m_choices.end(); It++){
array_string.Add(wxString(It->c_str()));
}
wxPGProperty *new_prop = wxEnumProperty(p->GetShortString(),wxPG_LABEL,array_string, ((PropertyChoice*)p)->m_initial_index);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p );
}
break;
case VertexPropertyType:
{
wxPGProperty* new_prop = wxParentProperty(p->GetShortString(),wxPG_LABEL);
Append( parent_prop, new_prop, p );
double x[3];
unsigned int number_of_axes = 3;
if(((PropertyVertex*)p)->xyOnly())number_of_axes = 2;
memcpy(x, ((PropertyVertex*)p)->m_x, number_of_axes*sizeof(double));
if(((PropertyVertex*)p)->m_affected_by_view_units)
{
for(unsigned int i = 0; i<number_of_axes; i++)x[i] /= wxGetApp().m_view_units;
}
wxPGProperty* x_prop = wxFloatProperty(_("x"),wxPG_LABEL, x[0]);
if(!p->property_editable())x_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, x_prop, p );
wxPGProperty* y_prop = wxFloatProperty(_("y"),wxPG_LABEL, x[1]);
if(!p->property_editable())y_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, y_prop, p );
if(!((PropertyVertex*)p)->xyOnly())
{
wxPGProperty* z_prop = wxFloatProperty(_("z"),wxPG_LABEL, x[2]);
if(!p->property_editable())z_prop->SetFlag(wxPG_PROP_READONLY);
new_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, z_prop, p );
}
}
break;
case TrsfPropertyType:
{
double x[3];
extract(((PropertyTrsf*)p)->m_trsf.TranslationPart(), x);
gp_Dir xaxis(1, 0, 0);
xaxis.Transform(((PropertyTrsf*)p)->m_trsf);
gp_Dir yaxis(0, 1, 0);
yaxis.Transform(((PropertyTrsf*)p)->m_trsf);
double vertical_angle = 0;
double horizontal_angle = 0;
double twist_angle = 0;
CoordinateSystem::AxesToAngles(xaxis, yaxis, vertical_angle, horizontal_angle, twist_angle);
wxPGProperty* new_prop = wxParentProperty(p->GetShortString(),wxPG_LABEL);
Append( parent_prop, new_prop, p );
wxPGProperty* x_prop = wxFloatProperty(_("x"),wxPG_LABEL,x[0]);
if(!p->property_editable())x_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, x_prop, p );
wxPGProperty* y_prop = wxFloatProperty(_("y"),wxPG_LABEL,x[1]);
if(!p->property_editable())y_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, y_prop, p );
wxPGProperty* z_prop = wxFloatProperty(_("z"),wxPG_LABEL,x[2]);
if(!p->property_editable())z_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, z_prop, p );
wxPGProperty* v_prop = wxFloatProperty(_("vertical angle"),wxPG_LABEL,vertical_angle);
if(!p->property_editable())v_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, v_prop, p );
wxPGProperty* h_prop = wxFloatProperty(_("horizontal angle"),wxPG_LABEL,horizontal_angle);
if(!p->property_editable())h_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, h_prop, p );
wxPGProperty* t_prop = wxFloatProperty(_("twist angle"),wxPG_LABEL,twist_angle);
if(!p->property_editable())t_prop->SetFlag(wxPG_PROP_READONLY);
new_prop->SetFlag(wxPG_PROP_READONLY);
Append( new_prop, t_prop, p );
}
break;
case CheckPropertyType:
{
wxPGProperty* new_prop = wxBoolProperty(p->GetShortString(),wxPG_LABEL, ((PropertyCheck*)p)->m_initial_value);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p );
m_pg->SetPropertyAttribute(new_prop, wxPG_BOOL_USE_CHECKBOX, true);
}
break;
case ListOfPropertyType:
{
wxPGProperty* new_prop = wxParentProperty(p->GetShortString(),wxPG_LABEL);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p );
std::list< Property* >::iterator It;
for(It = ((PropertyList*)p)->m_list.begin(); It != ((PropertyList*)p)->m_list.end(); It++){
Property* p2 = *It;
AddProperty(p2, new_prop);
}
}
break;
case FilePropertyType:
{
wxPGProperty *new_prop = wxFileProperty(p->GetShortString(),wxPG_LABEL, ((PropertyFile*)p)->m_initial_value);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p);
if(p->m_highlighted)m_pg->SetPropertyBackgroundColour(new_prop->GetId(), wxColour(71, 141, 248));
}
break;
case DirectoryPropertyType:
{
wxPGProperty *new_prop = wxDirProperty(p->GetShortString(),wxPG_LABEL, ((PropertyDir*)p)->m_initial_value);
if(!p->property_editable())new_prop->SetFlag(wxPG_PROP_READONLY);
Append( parent_prop, new_prop, p);
if(p->m_highlighted)m_pg->SetPropertyBackgroundColour(new_prop->GetId(), wxColour(71, 141, 248));
}
break;
}
}
bool quaternion_test::run()
{
bool global_ok = true;
quaternion< double > q;
double QData[] = { 1., 6., 3., 8. };
for( size_t index = 0; index < 4; ++index )
{
q.array[ index ] = QData[ index ];
}
// operator==/!= tests
{
bool ok = true;
quaterniond qq, qqq;
qq.array[ 0 ] = qqq.array[ 0 ] = 1.0;
qq.array[ 1 ] = qqq.array[ 1 ] = 6.0;
qq.array[ 2 ] = qqq.array[ 2 ] = 3.0;
qq.array[ 3 ] = qqq.array[ 3 ] = 8.0;
TEST(qq == qqq);
log( "operator==, operator!=", ok );
}
// operator= tests
{
bool ok = true;
quaterniond tquaternion_test = q;
TEST(tquaternion_test == q );
tquaternion_test.iter_set< double* >( QData, QData + 4 );
if ( ok )
TEST(tquaternion_test == q);
log( "operator=", ok );
}
// ctor tests
{
bool ok = true;
quaterniond qq( q );
TEST(q == qq);
quaterniond t( 1., 6., 3., 8 );
if ( ok )
TEST(q == t);
vector< 3, double > xyz;
double xyzData[] = { 1., 6., 3. };
xyz = xyzData;
quaterniond s( xyz, 8 );
if ( ok )
TEST(q == s);
matrix< 3, 3, double > mat;
double matData[] = { 1., 0., 0., 0., 0., 1., 0., -1., 0. };
mat = matData;
const quaterniond u( mat );
TEST( u.w() == sqrt( 2. ) / 2. &&
u.x() == - ( 1 / sqrt( 2. ) ) &&
(u.y() == 0 && u.z() == 0 ) );
log( "constructors", ok );
}
// set test
{
bool ok = true;
quaterniond qqq;
qqq.set ( 1., 6., 3., 8. );
TEST( qqq == q );
log( "set( x,y,z,w )", ok );
}
// abs
{
bool ok = true;
TEST(q.abs() == sqrt( 110.0 ) && q.squared_abs() == 110);
log( "abs(), squared_abs()", ok );
}
//conjugate() test
{
bool ok = true;
quaterniond conj( -1., -6., -3., 8. );
TEST( q.get_conjugate() == conj );
conj.conjugate();
if ( ok )
TEST(q == conj);
log( "conjugate()", ok );
}
// quat / scalar operations
{
bool ok = true;
quaterniond t;
t.set( 1, 2, 3, 4 );
quaterniond t3;
t3.set( 3, 6, 9, 12 );
double f = 3.0;
double rf = 1./ f;
t *= f;
TEST(t == t3);
t.set( 1, 2, 3, 4 );
t /= rf;
if (ok)
TEST(t == t3);
t.set( 1, 2, 3, 4 );
if (ok)
TEST(t * f == t3);
t.set( 1, 2, 3, 4 );
if (ok)
TEST(t / rf == t3);
log( "quaternion / scalar operations: operator*, /, *=, /=", ok );
}
{
bool ok = true;
quaterniond qq;
qq.set( 8, 3, 6, 1 );
quaterniond qpqq;
qpqq.set( 9., 9., 9., 9. );
// +, +=
TEST(q + qq == qpqq );
qq += q;
if (ok)
TEST(qq == qpqq);
// -, -=
qq.set( 8, 3, 6, 1 );
if (ok)
TEST(qpqq - qq == q);
qpqq -= qq;
if (ok)
TEST(qpqq == q);
// *, *=
qq.set( 2, 3, 4, 1 );
quaterniond q2( 3, 2, 1, 4 );
quaterniond p = qq * q2;
quaterniond pCorrect( 6, 24, 12, -12 );
if (ok)
TEST(p == pCorrect);
p = qq;
p *= q2;
if (ok)
TEST(p == pCorrect);
log( "quaternion / quaternion operations: operator+, -, *, +=, -=, *=", ok );
}
{
bool ok = true;
quaterniond qq( 1, 2, 3, 4 );
quaterniond q2( -6, 5, -4, 2 );
vector< 3, double > v = qq.cross( q2 );
vector< 3, double > v0( 1, 2, 3 );
vector< 3, double > v1( -6, 5, -4 );
TEST( v == v0.cross( v1 ) );
log( "cross product ( vec3 = quat x quat ).", ok );
}
// TODO
// {
// // FIXME: find correct values -> actually test if you get the
// // correct values
// bool ok = true;
//
// quaterniond qq(1., 2., 3., 4.);
// quaterniond pp(1., 2., 3., 4.);
// double a = 0.;
//
// quaterniond x(1., 2., 3., 4.);
//
// quaterniond::slerp(a, qq, pp);
//
// quaterniond correct(0.0, 1.0, 1.0, 0.0);
//
// TEST(correct == x);
//
// log( "FIXME: todo slerp(a, p, q ).", ok );
// }
#if 0
Quaterniond rquaternion_test( 8. / 110., -1. / 110., -6. / 110., -3. / 110. );
if ( _quaternion.invert() != rquaternion_test )
{
cout << "test: Quaternion::invert() failed!" << endl;
failed();
assert( 0 );
}
if ( tquaternion_test.dot( _quaternion ) != 40. )
{
cout << "test: Quaternion::dot( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Vector3d vector3_test( -30., -4., 18. );
if ( tquaternion_test.cross( _quaternion ) != vector3_test )
{
cout << "test: Quaternion::cross( quaternion ) failed!" << endl;
failed();
assert( 0 );
}
Vector3d yaxis( 1., 0., 0. );
Quaterniond svector3_test( 0., 18., -30., -4. );
Quaterniond result_test( _quaternion.rotate( M_PI / 2.f, yaxis, vector3_test ) );
if ( abs( result_test.abs() - svector3_test.abs() ) > 1e-13 )
{
cout << "test: Quaternion::rotate( T, Vector3, Vector3 ) failed!" << endl;
failed();
assert( 0 );
}
if ( ok )
cout << "Quaternion: all tests passed!" << endl;
#endif
return global_ok;
}
bool Matrix::decompose(Vector3* scale, Quaternion* rotation, Vector3* translation) const
{
if (translation)
{
// Extract the translation.
translation->x = m[12];
translation->y = m[13];
translation->z = m[14];
}
// Nothing left to do.
if (scale == NULL && rotation == NULL)
return true;
// Extract the scale.
// This is simply the length of each axis (row/column) in the matrix.
Vector3 xaxis(m[0], m[1], m[2]);
float scaleX = xaxis.length();
Vector3 yaxis(m[4], m[5], m[6]);
float scaleY = yaxis.length();
Vector3 zaxis(m[8], m[9], m[10]);
float scaleZ = zaxis.length();
// Determine if we have a negative scale (true if determinant is less than zero).
// In this case, we simply negate a single axis of the scale.
float det = determinant();
if (det < 0)
scaleZ = -scaleZ;
if (scale)
{
scale->x = scaleX;
scale->y = scaleY;
scale->z = scaleZ;
}
// Nothing left to do.
if (rotation == NULL)
return true;
// Scale too close to zero, can't decompose rotation.
if (scaleX < MATH_TOLERANCE || scaleY < MATH_TOLERANCE || fabs(scaleZ) < MATH_TOLERANCE)
return false;
float rn;
// Factor the scale out of the matrix axes.
rn = 1.0f / scaleX;
xaxis.x *= rn;
xaxis.y *= rn;
xaxis.z *= rn;
rn = 1.0f / scaleY;
yaxis.x *= rn;
yaxis.y *= rn;
yaxis.z *= rn;
rn = 1.0f / scaleZ;
zaxis.x *= rn;
zaxis.y *= rn;
zaxis.z *= rn;
// Now calculate the rotation from the resulting matrix (axes).
float trace = xaxis.x + yaxis.y + zaxis.z + 1.0f;
if (trace > MATH_EPSILON)
{
float s = 0.5f / sqrt(trace);
rotation->w = 0.25f / s;
rotation->x = (yaxis.z - zaxis.y) * s;
rotation->y = (zaxis.x - xaxis.z) * s;
rotation->z = (xaxis.y - yaxis.x) * s;
}
else
{
// Note: since xaxis, yaxis, and zaxis are normalized,
// we will never divide by zero in the code below.
if (xaxis.x > yaxis.y && xaxis.x > zaxis.z)
{
float s = 0.5f / sqrt(1.0f + xaxis.x - yaxis.y - zaxis.z);
rotation->w = (yaxis.z - zaxis.y) * s;
rotation->x = 0.25f / s;
rotation->y = (yaxis.x + xaxis.y) * s;
rotation->z = (zaxis.x + xaxis.z) * s;
}
else if (yaxis.y > zaxis.z)
{
float s = 0.5f / sqrt(1.0f + yaxis.y - xaxis.x - zaxis.z);
rotation->w = (zaxis.x - xaxis.z) * s;
rotation->x = (yaxis.x + xaxis.y) * s;
rotation->y = 0.25f / s;
rotation->z = (zaxis.y + yaxis.z) * s;
}
else
{
float s = 0.5f / sqrt(1.0f + zaxis.z - xaxis.x - yaxis.y );
rotation->w = (xaxis.y - yaxis.x ) * s;
rotation->x = (zaxis.x + xaxis.z ) * s;
rotation->y = (zaxis.y + yaxis.z ) * s;
rotation->z = 0.25f / s;
}
}
return true;
}
//--------------------------------------------------------------
// render the planet
void Planet::render(
int graphicsWidth,
int graphicsHeight,
double angle)
{
// if shader didn't compile, nothing we can do
if (m_planetShader == 0)
return;
double atmos = 20.0;
double radius = 1200.0;
double eyeDist = m_eyePt.length()/radius;
double a = 1.0;
if (eyeDist < a)
return; // below surface, nothing to do
double b = sqrt(eyeDist*eyeDist - a*a);
double h = (a*b)/eyeDist;
double m = (a*a)/eyeDist;
h += atmos/radius;
// x axis from planet center towards eye
mgPoint3 xaxis(m_eyePt);
xaxis.normalize();
// build y axis
mgPoint3 yaxis(xaxis);
yaxis.cross(mgPoint3(0.0, 1.0, 0.0));
yaxis.normalize();
mgPoint3 zaxis(yaxis);
zaxis.cross(xaxis);
zaxis.normalize();
mgMatrix4 transform;
transform._11 = xaxis.x;
transform._12 = xaxis.y;
transform._13 = xaxis.z;
transform._21 = yaxis.x;
transform._22 = yaxis.y;
transform._23 = yaxis.z;
transform._31 = zaxis.x;
transform._32 = zaxis.y;
transform._33 = zaxis.z;
VertexPlanet tl, tr, bl, br;
mgPoint3 pt;
transform.mapPt(m, -h, h, pt.x, pt.y, pt.z);
tl.setPoint(radius*pt.x, radius*pt.y, radius*pt.z);
transform.mapPt(m, h, h, pt.x, pt.y, pt.z);
tr.setPoint(radius*pt.x, radius*pt.y, radius*pt.z);
transform.mapPt(m, -h, -h, pt.x, pt.y, pt.z);
bl.setPoint(radius*pt.x, radius*pt.y, radius*pt.z);
transform.mapPt(m, h, -h, pt.x, pt.y, pt.z);
br.setPoint(radius*pt.x, radius*pt.y, radius*pt.z);
// inverse of world transform
mgMatrix4 model;
model.rotateYDeg(-angle);
mgPoint3 lightDir(1.0, 0.25, 0.0);
lightDir.normalize();
mgPoint3 modelLightDir;
model.mapPt(lightDir, modelLightDir);
transform.multiply(model);
mgPoint3 modelEye;
transform.mapPt(eyeDist, 0.0, 0.0, modelEye.x, modelEye.y, modelEye.z);
transform.mapPt(m, -h, h, pt.x, pt.y, pt.z);
tl.setModelPoint(pt.x, pt.y, pt.z);
transform.mapPt(m, h, h, pt.x, pt.y, pt.z);
tr.setModelPoint(pt.x, pt.y, pt.z);
transform.mapPt(m, -h, -h, pt.x, pt.y, pt.z);
bl.setModelPoint(pt.x, pt.y, pt.z);
transform.mapPt(m, h, -h, pt.x, pt.y, pt.z);
br.setModelPoint(pt.x, pt.y, pt.z);
mgMatrix4 viewMatrix;
viewMatrix.translate(-m_eyePt.x, -m_eyePt.y, -m_eyePt.z);
viewMatrix.multiply(m_eyeMatrix);
mgMatrix4 worldProjection;
createProjection(worldProjection, graphicsWidth, graphicsHeight);
mgMatrix4 mvpMatrix(viewMatrix);
mvpMatrix.multiply(worldProjection);
setupShader(mvpMatrix, modelEye, modelLightDir);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_CUBE_MAP, m_surfaceTexture);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_CUBE_MAP, m_cloudsTexture);
glBindVertexArray(m_vertexArray);
glBindBuffer(GL_ARRAY_BUFFER, m_vertexBuffer);
VertexPlanet data[6];
data[0] = tl;
data[1] = tr;
data[2] = bl;
data[3] = bl;
data[4] = tr;
data[5] = br;
int vertexSize = sizeof(VertexPlanet);
int count = 6;
glBufferData(GL_ARRAY_BUFFER, vertexSize * count, data, GL_DYNAMIC_DRAW);
glDrawArrays(GL_TRIANGLES, 0, count);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindVertexArray(0);
glActiveTexture(GL_TEXTURE0);
}