//LC: added for local (re)localization
void MapModel::distributeLocally(Particles& particles, double roll, double pitch, double yaw,
double x, double y, double z,
UniformGeneratorT& rngUniform, double dist_linear, double dist_angular){ //maxHeight added by LC
double sizeX,sizeY,sizeZ, minX, minY, minZ;
//LC: get total map size
m_map->getMetricSize(sizeX,sizeY,sizeZ);
//LC: get minimum values of map bounding box
m_map->getMetricMin(minX, minY, minZ);
double weight = 1.0 / particles.size();
Particles::iterator it = particles.begin();
while (true){
if (it == particles.end())
break;
// obtain a pose hypothesis:
double x_new = x + dist_linear * ((rngUniform() - 0.5) * 2);
double y_new = y + dist_linear * ((rngUniform() - 0.5) * 2);
double z_new = z + dist_linear * ((rngUniform() - 0.5) * 2);
double roll_new = roll;// + dist_angular * ((rngUniform() - 0.5) * 2);
double pitch_new = pitch;// + dist_angular * ((rngUniform() - 0.5) * 2);
double yaw_new = yaw + dist_angular * ((rngUniform() - 0.5) * 2);
if(it == particles.begin()) {
// obtain a pose hypothesis:
x_new = x;
y_new = y;
z_new = z;
roll_new = roll;
pitch_new = pitch;
yaw_new = yaw;
}
//set new pose
it->pose.getOrigin().setX(x_new);
it->pose.getOrigin().setY(y_new);
it->pose.getOrigin().setZ(z_new);
//set orientation
it->pose.setRotation(tf::createQuaternionFromRPY(roll_new, pitch_new, yaw_new));
it->weight = weight;
it++;
}
}
SecondaryStructureResidue setup_coarse_secondary_structure_residue(
const Particles &ssr_ps, Model *mdl,
bool winner_takes_all_per_res) {
Floats scores;
scores.push_back(0.0);
scores.push_back(0.0);
scores.push_back(0.0);
int count = 0;
for (Particles::const_iterator p = ssr_ps.begin(); p != ssr_ps.end();
++p) {
IMP_USAGE_CHECK(SecondaryStructureResidue::get_is_setup(*p),
"all particles must be SecondaryStructureResidues");
SecondaryStructureResidue ssr(*p);
Floats tmp_scores;
tmp_scores.push_back(ssr.get_prob_helix());
tmp_scores.push_back(ssr.get_prob_strand());
tmp_scores.push_back(ssr.get_prob_coil());
int max_i = 0;
Float max = 0.0;
for (int i = 0; i < 3; i++) {
if (tmp_scores[i] > max) {
max = tmp_scores[i];
max_i = i;
}
if (!winner_takes_all_per_res) scores[i] += tmp_scores[i];
}
if (winner_takes_all_per_res) scores[max_i] += 1.0;
count++;
}
IMP_NEW(Particle, coarse_p, (mdl));
SecondaryStructureResidue ssres = SecondaryStructureResidue::setup_particle(
coarse_p, scores[0] / count, scores[1] / count, scores[2] / count);
return ssres;
}
void
System::
init_particles(
Particles<Particle_T> & particles,
size_t in,
size_t out,
int mass)
{
auto it(particles.begin());
auto end(particles.end());
for (size_t i = 0; it != end && i < in; ++it, ++i)
{
Point p = random_insphere(0, cell_.radius);
it->x = cell_.x + p.x;
it->y = cell_.y + p.y;
it->z = cell_.z + p.z;
it->mass = mass;
cell_.put_inside(*it);
}
for (size_t i = 0; it != end && i < out; ++it, ++i)
{
Point p = random_insphere(cell_.radius, outer_limit_.radius);
it->x = cell_.x + p.x;
it->y = cell_.y + p.y;
it->z = cell_.z + p.z;
it->mass = mass;
cell_.put_outside(*it);
}
}
void _remove(Particle *p)
{
Particles::iterator pos = std::find(particles.begin(), particles.end(), p);
if(pos != particles.end())
{
particles.erase(pos);
}
}
void projectPositions()
{
for(Particles::iterator iter = particles.begin();
iter != particles.end();
++iter)
{
Particle *p = *iter;
p->p = p->x + p->v * PHYSICS_DT;
}
}
void ClearAllParticles(){
for (ParticlesIterator pIter = g_particles.begin(); pIter != g_particles.end(); ++pIter ) {
Particle* p = *(pIter);
if (p) {
delete p;
p = NULL;
}
}
g_particles.clear();
}
void removeFlagged()
{
for(Particles::iterator iter = removeList.begin();
iter != removeList.end();
++iter)
{
Particle *p = *iter;
_remove(p);
}
removeList.clear();
}
void unprojectVelocities()
{
for(Particles::iterator iter = particles.begin();
iter != particles.end();
++iter)
{
Particle *p = *iter;
p->v = (p->p - p->x)/PHYSICS_DT;
p->x = p->p;
}
}
void applyVoxelGridConstraint(VoxelGrid *g)
{
for(Particles::iterator iter = particles.begin();
iter != particles.end();
++iter)
{
Particle *p = *iter;
glm::ivec3 v;
if(p->type == PARTICLE_PROJECTILE && g->applyConstraint(p,v))
{
g->set(v, 0);
remove(p);
}
}
}
void ProblemSpecificBoundaryConditions::operator() (Particles<N>& particles)
{
using namespace config;
const real Lx1 = 1.0/Lx;
const real Lz1 = 1.0/Lz;
Particle *p = particles.begin ();
for (uint dummy = 0; dummy < N; ++dummy)
{
p->x -= floor ((p->x - x0)*Lx1)*Lx;
p->z -= floor ((p->z - z0)*Lz1)*Lz;
++p;
}
}
void KMLProxy::initialize(Model *m,const Particles &ps,
const FloatKeys &atts,unsigned int num_centers){
for(Particles::const_iterator it = ps.begin(); it != ps.end();it++)
{ps_.push_back(*it);}
for(FloatKeys::const_iterator it = atts.begin();
it != atts.end();it++)
{atts_.push_back(*it);}
m_ = m;
kcenters_=num_centers;
dim_=atts.size();
centroids_ = Particles();
data_ = new KMData(dim_,ps_.size());
for(unsigned int i=0;i<ps_.size(); i++) {
for(unsigned int j=0;j<atts.size();j++){
(*(*data_)[i])[j]=ps_[i]->get_value(atts[j]);
}
}
is_init_=true;
}
void MapModel::initGlobal(Particles& particles, double z, double roll, double pitch,
const Vector6d& initNoise,
UniformGeneratorT& rngUniform, NormalGeneratorT& rngNormal, double maxHeight, double minHeight){ //maxHeight added by LC
double sizeX,sizeY,sizeZ, minX, minY, minZ;
//LC: get total map size
m_map->getMetricSize(sizeX,sizeY,sizeZ);
//LC: get minimum values of map bounding box
m_map->getMetricMin(minX, minY, minZ);
double weight = 1.0 / particles.size();
Particles::iterator it = particles.begin();
while (true){
if (it == particles.end())
break;
// obtain a pose hypothesis:
double x = minX + sizeX * rngUniform();
double y = minY + sizeY * rngUniform();
std::vector<double> z_list;
getHeightlist(x, y, minHeight, maxHeight,z_list);
//LC: create a pose with random yaw orientation at (x,y) for every entry in the height list
for (unsigned zIdx = 0; zIdx < z_list.size(); zIdx++){
if (it == particles.end())
break;
// not needed => we already know that z contains valid poses
// distance map: used distance from obstacles:
//std::abs(node->getLogOdds()) < 0.1){
// if (!isOccupied(octomap::point3d(x, y, z[zIdx]))){
it->pose.getOrigin().setX(x);
it->pose.getOrigin().setY(y);
// TODO: sample z, roll, pitch
it->pose.getOrigin().setZ(z_list.at(zIdx) + z + rngNormal() * initNoise(2));
//LC: create yaw orientation from -PI to +PI
double yaw = rngUniform() * 2 * M_PI -M_PI;
it->pose.setRotation(tf::createQuaternionFromRPY(roll, pitch, yaw));
it->weight = weight;
it++;
}
}
}
void MapModel::initGlobal(Particles& particles,
const Vector6d& initPose, const Vector6d& initNoise,
UniformGeneratorT& rngUniform, NormalGeneratorT& rngNormal){
double sizeX,sizeY,sizeZ, minX, minY, minZ;
m_map->getMetricSize(sizeX,sizeY,sizeZ);
m_map->getMetricMin(minX, minY, minZ);
double weight = 1.0 / particles.size();
Particles::iterator it = particles.begin();
while (true){
if (it == particles.end())
break;
// obtain a pose hypothesis:
double x = minX + sizeX * rngUniform();
double y = minY + sizeY * rngUniform();
std::vector<double> z;
getHeightlist(x, y, 0.6,z);
for (unsigned zIdx = 0; zIdx < z.size(); zIdx++){
if (it == particles.end())
break;
// not needed => we already know that z contains valid poses
// distance map: used distance from obstacles:
//std::abs(node->getLogOdds()) < 0.1){
// if (!isOccupied(octomap::point3d(x, y, z[zIdx]))){
it->pose.getOrigin().setX(x);
it->pose.getOrigin().setY(y);
// TODO: sample z, roll, pitch around odom pose!
it->pose.getOrigin().setZ(z.at(zIdx) + initPose(2) + rngNormal() * initNoise(2));
double yaw = rngUniform() * 2 * M_PI -M_PI;
it->pose.setRotation(tf::createQuaternionFromYaw(yaw));
it->weight = weight;
it++;
}
}
}
Particles CHARMMParameters::create_dihedrals(Particles bonds) const
{
IMP_OBJECT_LOG;
Particles ps;
BondMap particle_bonds;
make_bond_map(bonds, particle_bonds);
// Iterate over all bonds
for (Particles::const_iterator bit1 = bonds.begin();
bit1 != bonds.end(); ++bit1) {
IMP::atom::Bond bd = IMP::atom::Bond(*bit1);
Particle *p2 = bd.get_bonded(0).get_particle();
Particle *p3 = bd.get_bonded(1).get_particle();
// Extend along each bond from p2 and p3 to get candidate
// p1-p2-p3-p4 dihedrals
for (base::Vector<IMP::atom::Bond>::const_iterator bit2
= particle_bonds[p2].begin();
bit2 != particle_bonds[p2].end(); ++bit2) {
Particle *p1 = get_other_end_of_bond(p2, *bit2);
if (p1 != p3) {
for (base::Vector<IMP::atom::Bond>::const_iterator bit3
= particle_bonds[p3].begin();
bit3 != particle_bonds[p3].end(); ++bit3) {
Particle *p4 = get_other_end_of_bond(p3, *bit3);
// Avoid generating dihedrals for three-membered rings
if (p1 != p4 && p2 != p4) {
internal::add_dihedral_to_list(this, p1, p2, p3, p4, ps);
}
}
}
}
}
return ps;
}
Particles CHARMMParameters::create_angles(Particles bonds) const
{
IMP_OBJECT_LOG;
Particles ps;
BondMap particle_bonds;
make_bond_map(bonds, particle_bonds);
// Iterate over all bonds
for (Particles::const_iterator bit1 = bonds.begin();
bit1 != bonds.end(); ++bit1) {
IMP::atom::Bond bd = IMP::atom::Bond(*bit1);
Particle *p2 = bd.get_bonded(0).get_particle();
Particle *p3 = bd.get_bonded(1).get_particle();
// Extend along each adjoining p2 bond to get candidate p1-p2-p3 angles
for (base::Vector<IMP::atom::Bond>::const_iterator bit2
= particle_bonds[p2].begin();
bit2 != particle_bonds[p2].end(); ++bit2) {
Particle *p1 = get_other_end_of_bond(p2, *bit2);
// Avoid making angles where p1 == p3, and avoid double-counting
if (p3 > p1) {
add_angle(p1, p2, p3, ps);
}
}
// Do the same for p2-p3-p4 angles
for (base::Vector<IMP::atom::Bond>::const_iterator bit2
= particle_bonds[p3].begin();
bit2 != particle_bonds[p3].end(); ++bit2) {
Particle *p4 = get_other_end_of_bond(p3, *bit2);
if (p4 < p2) {
add_angle(p2, p3, p4, ps);
}
}
}
return ps;
}
/** @brief get the centers as intensity centroids of local maxima neighbourhood
*
* Local maxima are taken as the bright pixels of centersMap
*/
Particles Tracker::getSubPixel(bool autoThreshold)
{
//boost::progress_timer ptimer;
//get the positions of the bright centers from flatten centersMap
if(!quiet) cout<<"get positions ... ";
list<size_t> flat_positions;
bool* b = centersMap.origin();
for(size_t i=0; i<centersMap.num_elements(); ++i)
if(*b++)
flat_positions.push_back(i);
//sort by increasing pixel intensity
if(!quiet) cout<<flat_positions.size()<<" potential centers ... ";
flat_positions.sort(compIntensities(data));
//Find the best intensity threshold
if(autoThreshold)
{
//construct the centers intensity histogram
const long double minhist = *(data+flat_positions.front()),
maxhist = *(data+flat_positions.back());
const long double scale = 100.0/(maxhist-minhist);
vector<size_t> hist(100, 0);
for(list<size_t>::const_iterator c = flat_positions.begin(); c!= flat_positions.end(); ++c)
{
size_t l = (*(data + (*c)) - minhist) * scale;
if(l<hist.size())
hist[l]++;
}
//find the population global maximum
vector<size_t>::iterator peak = max_element(hist.begin(), hist.end());
if(!quiet) cout<<"peak ="<<distance(hist.begin(), peak)<<" ... ";
//find the last non-null bin before the peak, and at the same time the bin with the minimum population between it and the peak
vector<size_t>::iterator non_z = lower_bound(hist.begin(), peak, 1);
vector<size_t>::iterator lowest = min_element(non_z, peak);
//cout<<"non_z="<<distance(hist.begin(),non_z)<<"\tlowest="<<distance(hist.begin(),lowest)<<endl;
while((*lowest)==0)
{
non_z = lowest;
lowest = min_element(lowest, peak);
//cout<<"non_z="<<distance(hist.begin(),non_z)<<"\tlowest="<<distance(hist.begin(),lowest)<<endl;
}
//lowest gives the position of the valley of the histogram, ie the best threshold
if(!quiet) cout<<"best threshold = "<<distance(hist.begin(), lowest)/scale + minhist<<" ("<<distance(hist.begin(), lowest)<<"%) ... ";
//We remove all centers that have lower intensity than the best threshold
list<size_t>::iterator i = flat_positions.begin();
advance(i, accumulate(hist.begin(), lowest, (size_t)0));
flat_positions.erase(flat_positions.begin(), i);
if(!quiet) cout<<flat_positions.size()<<" centers after auto thresholding ... ";
}
//centroid binning
if(!quiet) cout<<"centroid ... ";
list< valarray<double> > positions;
boost::array<size_t,3> shape;
copy(centersMap.shape(), centersMap.shape()+3, shape.begin());
transform(
flat_positions.rbegin(), flat_positions.rend(),
back_inserter(positions),
centroid(boost::multi_array_ref<float,3>(data,shape))
);
//removing marked centers
positions.remove_if(markedPositionRemover<valarray<double> >());
if(!quiet) cout<<positions.size()<<" are real local maxima ... ";
Particles centers;
for(size_t d=0;d<3;++d)
{
centers.bb.edges[d].first = 0;
centers.bb.edges[d].second = centersMap.shape()[d];
}
//centers.reserve(positions.size());
copy(positions.begin(), positions.end(), back_inserter(centers));
if(fortran_order)
{
//If the image was filled in row major ordering of the dimensions, the coordinates are given as z,y,x by the tracker.
//Here we convert to the human-readable x,y,z coordinates
for_each(centers.begin(), centers.end(), revert<valarray<double> >());
//don't forget the bounding box
swap(centers.bb.edges[0].second, centers.bb.edges[2].second);
}
if(!quiet) cout << "done!" << endl;
if(view)
{
markCenters();
display("Centers");
}
return centers;
}
void MapModel::verifyPoses(Particles& particles){
double minX, minY, minZ, maxX, maxY, maxZ;
m_map->getMetricMin(minX, minY, minZ);
m_map->getMetricMax(maxX, maxY, maxZ);
// find min. particle weight:
double minWeight = std::numeric_limits<double>::max();
for (Particles::iterator it = particles.begin(); it != particles.end(); ++it) {
if (it->weight < minWeight)
minWeight = it->weight;
}
minWeight -= 200;
unsigned numWall = 0;
unsigned numOut = 0;
unsigned numMotion = 0;
// TODO possible speedup: cluster particles by grid voxels first?
// iterate over samples, multi-threaded:
#pragma omp parallel for
for (unsigned i = 0; i < particles.size(); ++i){
octomap::point3d position(particles[i].pose.getOrigin().getX(),
particles[i].pose.getOrigin().getY(), particles[i].pose.getOrigin().getZ());
// see if outside of map bounds:
if (position(0) < minX || position(0) > maxX
|| position(1) < minY || position(1) > maxY
|| position(2) < minZ || position(2) > maxZ)
{
particles[i].weight = minWeight;
#pragma omp atomic
numOut++;
} else {
// see if occupied cell:
if (this->isOccupied(position)){
particles[i].weight = minWeight;
#pragma omp atomic
numWall++;
} else {
// see if current pose is a valid walking pose:
// TODO: need to check height over floor!
if (m_motionRangeZ >= 0.0 &&
std::abs(particles[i].pose.getOrigin().getZ() - m_motionMeanZ) > m_motionRangeZ)
{
particles[i].weight = minWeight;
#pragma omp atomic
numMotion++;
} else if (m_motionRangePitch >= 0.0 || m_motionRangeRoll >= 0.0){
double yaw, pitch, roll;
particles[i].pose.getBasis().getRPY(roll, pitch, yaw);
if ((m_motionRangePitch >= 0.0 && std::abs(pitch) > m_motionRangePitch)
|| (m_motionRangeRoll >= 0.0 && std::abs(roll) > m_motionRangeRoll))
{
particles[i].weight = minWeight;
#pragma omp atomic
numMotion++;
}
}
}
}
} // end loop over particles
if (numWall > 0 || numOut > 0 || numMotion > 0){
ROS_INFO("Particle weights minimized: %d out of map, %d in obstacles, %d out of motion range", numOut, numWall, numMotion);
}
if (numOut + numWall >= particles.size()){
ROS_WARN("All particles are out of the valid map area or in obstacles!");
}
}
ParticleIndexesAdaptor::ParticleIndexesAdaptor(const Particles &ps)
: tmp_(new ParticleIndexes(ps.size())), val_(tmp_.get()) {
*tmp_ = get_indexes(ParticlesTemp(ps.begin(), ps.end()));
}
IMPCNMULTIFIT_BEGIN_NAMESPACE
Floats get_rmsd_for_models(const std::string param_filename,
const std::string trans_filename,
const std::string ref_filename, int start_model,
int end_model) {
std::string protein_filename, surface_filename;
int cn_symm_deg;
std::cout << "============= parameters ============" << std::endl;
std::cout << "params filename : " << param_filename << std::endl;
std::cout << "trans filename : " << trans_filename << std::endl;
std::cout << "ref filename : " << ref_filename << std::endl;
std::cout << "start index to rmsd : " << start_model << std::endl;
std::cout << "end index to rmsd : " << end_model << std::endl;
std::cout << "=====================================" << std::endl;
internal::Parameters params(param_filename.c_str());
protein_filename = params.get_unit_pdb_fn();
cn_symm_deg = params.get_cn_symm();
IMP_NEW(Model, mdl, ());
atom::Hierarchy asmb_ref;
atom::Hierarchies mhs;
// read the monomer
core::XYZs model_xyzs;
for (int i = 0; i < cn_symm_deg; i++) {
atom::Hierarchy h =
atom::read_pdb(protein_filename, mdl, new atom::CAlphaPDBSelector());
atom::Chain c = atom::get_chain(
atom::Residue(atom::get_residue(atom::Atom(core::get_leaves(h)[0]))));
c.set_id(std::string(1, char(65 + i)));
atom::add_radii(h);
atom::create_rigid_body(h);
mhs.push_back(h);
Particles leaves = core::get_leaves(h);
for (Particles::iterator it = leaves.begin(); it != leaves.end();
it++) {
model_xyzs.push_back(core::XYZ(*it));
}
}
// read the transformations
multifit::FittingSolutionRecords recs =
multifit::read_fitting_solutions(trans_filename.c_str());
// read the reference structure
asmb_ref = atom::read_pdb(ref_filename, mdl, new atom::CAlphaPDBSelector());
atom::Hierarchies ref_chains =
atom::Hierarchies(atom::get_by_type(asmb_ref, atom::CHAIN_TYPE));
std::cout << "number of records:" << recs.size() << std::endl;
Floats rmsd;
std::ofstream out;
out.open("rmsd.output");
if (end_model < 0 || end_model >= static_cast<int>(recs.size())) {
end_model = recs.size() - 1;
}
for (int i = start_model; i >= 0 && i <= end_model; ++i) {
algebra::Transformation3D t1 = recs[i].get_dock_transformation();
algebra::Transformation3D t2 = recs[i].get_fit_transformation();
algebra::Transformation3D t2_inv = t1.get_inverse();
transform_cn_assembly(mhs, t1);
for (unsigned int j = 0; j < model_xyzs.size(); j++) {
model_xyzs[j]
.set_coordinates(t2.get_transformed(model_xyzs[j].get_coordinates()));
}
std::cout << mhs.size() << "," << ref_chains.size() << std::endl;
Float cn_rmsd = get_cn_rmsd(mhs, ref_chains);
out << " trans:" << i << " rmsd: " << cn_rmsd
<< " cc: " << 1. - recs[i].get_fitting_score() << std::endl;
rmsd.push_back(cn_rmsd);
for (unsigned int j = 0; j < model_xyzs.size(); j++) {
model_xyzs[j].set_coordinates(
t2_inv.get_transformed(model_xyzs[j].get_coordinates()));
}
/* std::stringstream ss;
ss<<"asmb_"<<i<<".pdb";
atom::write_pdb(mhs,ss.str());*/
transform_cn_assembly(mhs, t1.get_inverse());
}
out.close();
return rmsd;
}
Particle& GetOrigin(){
return *(*m_particles.begin() );
}
bool
Particle::update()
{
if (!mMap) return false;
if (mLifetimeLeft == 0)
{
mAlive = false;
}
if (mAlive)
{
//calculate particle movement
if (mMomentum != 1.0f)
{
mVelocity *= mMomentum;
}
if (mTarget && mAcceleration != 0.0f)
{
Vector dist = mPos - mTarget->getPosition();
dist.x *= SIN45;
float invHypotenuse;
switch (Particle::fastPhysics)
{
case 1:
invHypotenuse = fastInvSqrt(
dist.x * dist.x + dist.y * dist.y + dist.z * dist.z);
break;
case 2:
invHypotenuse = 2.0f /
fabs(dist.x) + fabs(dist.y) + fabs(dist.z);
break;
default:
invHypotenuse = 1.0f / sqrt(
dist.x * dist.x + dist.y * dist.y + dist.z * dist.z);
break;
}
if (invHypotenuse)
{
if (mInvDieDistance > 0.0f && invHypotenuse > mInvDieDistance)
{
mAlive = false;
}
float accFactor = invHypotenuse * mAcceleration;
mVelocity -= dist * accFactor;
}
}
if (mRandomnes > 0)
{
mVelocity.x += (rand()%mRandomnes - rand()%mRandomnes) / 1000.0f;
mVelocity.y += (rand()%mRandomnes - rand()%mRandomnes) / 1000.0f;
mVelocity.z += (rand()%mRandomnes - rand()%mRandomnes) / 1000.0f;
}
mVelocity.z -= mGravity;
// Update position
mPos.x += mVelocity.x;
mPos.y += mVelocity.y * SIN45;
mPos.z += mVelocity.z * SIN45;
// Update other stuff
if (mLifetimeLeft > 0)
{
mLifetimeLeft--;
}
mLifetimePast++;
if (mPos.z > PARTICLE_SKY || mPos.z < 0.0f)
{
if (mBounce > 0.0f)
{
mPos.z *= -mBounce;
mVelocity *= mBounce;
mVelocity.z = -mVelocity.z;
}
else {
mAlive = false;
}
}
// Update child emitters
if (mLifetimePast%Particle::emitterSkip == 0)
{
for ( EmitterIterator e = mChildEmitters.begin();
e != mChildEmitters.end();
e++
)
{
Particles newParticles = (*e)->createParticles();
for ( ParticleIterator p = newParticles.begin();
p != newParticles.end();
p++
)
{
(*p)->moveBy(mPos.x, mPos.y, mPos.z);
mChildParticles.push_back (*p);
}
}
}
}
// Update child particles
for (ParticleIterator p = mChildParticles.begin();
p != mChildParticles.end();)
{
if ((*p)->update())
{
p++;
} else {
delete (*p);
p = mChildParticles.erase(p);
}
}
if (!mAlive && mChildParticles.empty() && mAutoDelete)
{
return false;
}
return true;
}
bool Particle::update()
{
if (!mMap)
return false;
if (mLifetimeLeft == 0 && mAlive == ALIVE)
mAlive = DEAD_TIMEOUT;
Vector oldPos = mPos;
if (mAlive == ALIVE)
{
//calculate particle movement
if (mMomentum != 1.0f)
{
mVelocity *= mMomentum;
}
if (mTarget && mAcceleration != 0.0f)
{
Vector dist = mPos - mTarget->getPosition();
dist.x *= SIN45;
float invHypotenuse;
switch (Particle::fastPhysics)
{
case 1:
invHypotenuse = fastInvSqrt(
dist.x * dist.x + dist.y * dist.y + dist.z * dist.z);
break;
case 2:
invHypotenuse = 2.0f /
fabs(dist.x) + fabs(dist.y) + fabs(dist.z);
break;
default:
invHypotenuse = 1.0f / sqrt(
dist.x * dist.x + dist.y * dist.y + dist.z * dist.z);
break;
}
if (invHypotenuse)
{
if (mInvDieDistance > 0.0f && invHypotenuse > mInvDieDistance)
{
mAlive = DEAD_IMPACT;
}
float accFactor = invHypotenuse * mAcceleration;
mVelocity -= dist * accFactor;
}
}
if (mRandomness > 0)
{
mVelocity.x += (rand()%mRandomness - rand()%mRandomness) / 1000.0f;
mVelocity.y += (rand()%mRandomness - rand()%mRandomness) / 1000.0f;
mVelocity.z += (rand()%mRandomness - rand()%mRandomness) / 1000.0f;
}
mVelocity.z -= mGravity;
// Update position
mPos.x += mVelocity.x;
mPos.y += mVelocity.y * SIN45;
mPos.z += mVelocity.z * SIN45;
// Update other stuff
if (mLifetimeLeft > 0)
{
mLifetimeLeft--;
}
mLifetimePast++;
if (mPos.z < 0.0f)
{
if (mBounce > 0.0f)
{
mPos.z *= -mBounce;
mVelocity *= mBounce;
mVelocity.z = -mVelocity.z;
}
else
{
mAlive = DEAD_FLOOR;
}
}
else if (mPos.z > PARTICLE_SKY)
{
mAlive = DEAD_SKY;
}
// Update child emitters
if ((mLifetimePast-1)%Particle::emitterSkip == 0)
{
for (EmitterIterator e = mChildEmitters.begin();
e != mChildEmitters.end(); e++)
{
Particles newParticles = (*e)->createParticles(mLifetimePast);
for (ParticleIterator p = newParticles.begin();
p != newParticles.end(); p++)
{
(*p)->moveBy(mPos);
mChildParticles.push_back (*p);
}
}
}
}
// create death effect when the particle died
if (mAlive != ALIVE && mAlive != DEAD_LONG_AGO)
{
if ((mAlive & mDeathEffectConditions) > 0x00 && !mDeathEffect.empty())
{
Particle* deathEffect = particleEngine->addEffect(mDeathEffect, 0, 0);
deathEffect->moveBy(mPos);
}
mAlive = DEAD_LONG_AGO;
}
Vector change = mPos - oldPos;
// Update child particles
for (ParticleIterator p = mChildParticles.begin();
p != mChildParticles.end();)
{
//move particle with its parent if desired
if ((*p)->doesFollow())
{
(*p)->moveBy(change);
}
//update particle
if ((*p)->update())
{
p++;
}
else
{
delete (*p);
p = mChildParticles.erase(p);
}
}
if (mAlive != ALIVE && mChildParticles.empty() && mAutoDelete)
{
return false;
}
return true;
}