void AddWalkSat() {
ALGORITHM *pCurAlg;
pCurAlg = CreateAlgorithm("walksat","",FALSE,
"WALKSAT: Original WalkSAT algorithm (SKC variant)",
"Selman, Kautz, Cohen [AAAI 94]",
"PickWalkSatSKC",
"DefaultProcedures,Flip+FalseClauseList",
"default","default");
AddParmProbability(&pCurAlg->parmList,"-wp","walk probability [default %s]","with probability PR, select a random variable from a~randomly selected unsat clause","",&iWp,0.50);
CreateTrigger("PickWalkSatSKC",ChooseCandidate,PickWalkSatSKC,"","");
pCurAlg = CreateAlgorithm("walksat","",TRUE,
"WALKSAT: Original WalkSAT algorithm (SKC variant) (weighted)",
"Selman, Kautz, Cohen [AAAI 94]",
"PickWalkSatSKCW",
"DefaultProceduresW,Flip+FalseClauseListW",
"default_w","default");
CopyParameters(pCurAlg,"walksat","",FALSE);
CreateTrigger("PickWalkSatSKCW",ChooseCandidate,PickWalkSatSKCW,"","");
}
void AddRandom() {
ALGORITHM *pCurAlg;
pCurAlg = CreateAlgorithm("urwalk","",FALSE,
"Uninformed Random Walk: flip any var at random",
"",
"PickURWalk",
"DefaultProcedures",
"default","default");
CreateTrigger("PickURWalk",ChooseCandidate,PickURWalk,"","");
pCurAlg = CreateAlgorithm("urwalk","",TRUE,
"Uninformed Random Walk: flip any var at random (weighted)",
"",
"PickURWalk",
"DefaultProceduresW",
"default_w","default");
pCurAlg = CreateAlgorithm("crwalk","",FALSE,
"Conflict-Directed Random Walk: choose unsat clause, then literal at random",
"Papadimitriou [FOCS 91]",
"PickCRWalk",
"DefaultProcedures,Flip+FalseClauseList",
"default","default");
CreateTrigger("PickCRWalk",ChooseCandidate,PickCRWalk,"","");
pCurAlg = CreateAlgorithm("crwalk","",TRUE,
"Conflict-Directed Random Walk (weighted)",
"Papadimitriou [FOCS 91]",
"PickCRWalk",
"DefaultProceduresW,Flip+FalseClauseListW",
"default_w","default");
CreateTrigger("SchoeningRestart",CreateData,SchoeningRestart,"","");
pCurAlg = CreateAlgorithm("crwalk","schoening",FALSE,
"Conflict-Directed Random Walk, restart every 3n steps",
"Schoening [FOCS 99]",
"PickCRWalk,SchoeningRestart",
"DefaultProcedures,Flip+FalseClauseList",
"default","default");
pCurAlg = CreateAlgorithm("crwalk","schoening",TRUE,
"Conflict-Directed Random Walk, restart every 3n steps (weighted)",
"Schoening [FOCS 99]",
"PickCRWalk,SchoeningRestart",
"DefaultProceduresW,Flip+FalseClauseListW",
"default_w","default");
}
bool InitNx()
{
// Initialize PhysicsSDK
NxPhysicsSDKDesc desc;
gMyPhysX.initPhysX(desc);
if(isPhysXHardwarePresent())
printf("PhysX Hardware is available in your system!\n");
// Create a scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
gMyPhysX.createDefaultScene(sceneDesc);
// Create ground plane
NxPlaneShapeDesc PlaneDesc;
PlaneDesc.group = 2;
NxActorDesc ActorDesc;
ActorDesc.shapes.pushBack(&PlaneDesc);
gMyPhysX.getScene()->createActor(ActorDesc);
NxMaterial * defaultMaterial = gMyPhysX.getScene()->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.0f);
defaultMaterial->setStaticFriction(0.5f);
defaultMaterial->setDynamicFriction(0.5f);
// Create trigger
NxVec3 zeroV(0,0,0);
CreateTrigger(NxVec3(0,10,0), 10);
CreateTrigger(NxVec3(-40,10,0), 10, &zeroV, false);
CreateCube(NxVec3(-40,10,40), 10, NULL, false, true);
CreateCube(NxVec3(-40,10,80), 10, NULL, true, false);
//This creates a kinematic actor with a trigger, note that kinematic
//triggers get interactions with static objects, thus this trigger
//(which is placed directly above the ground) will directly get an
//enter event for the ground plane (and change it's color).
CreateTrigger(NxVec3(40,10,0), 10, NULL, true);
//You can try to move it up just a little bit, and you will see
//that it will no longer intersect the ground plane.
//CreateTrigger(NxVec3(40,11,0), 10, NULL, true);
return true;
}
boost::shared_ptr<Trigger> MojoTriggerManager::CreateWhereTrigger(
boost::shared_ptr<Activity> activity, const MojoURL& url,
const MojObject& params, const MojObject& where)
{
boost::shared_ptr<MojoMatcher> matcher =
boost::make_shared<MojoWhereMatcher>(where);
return CreateTrigger(activity, url, params, matcher);
}
boost::shared_ptr<Trigger> MojoTriggerManager::CreateCompareTrigger(
boost::shared_ptr<Activity> activity, const MojoURL& url,
const MojObject& params, const MojString& key, const MojObject& value)
{
boost::shared_ptr<MojoMatcher> matcher =
boost::make_shared<MojoCompareMatcher>(key, value);
return CreateTrigger(activity, url, params, matcher);
}
boost::shared_ptr<Trigger> MojoTriggerManager::CreateBasicTrigger(
boost::shared_ptr<Activity> activity, const MojoURL& url,
const MojObject& params)
{
boost::shared_ptr<MojoMatcher> matcher =
boost::make_shared<MojoSimpleMatcher>();
return CreateTrigger(activity, url, params, matcher);
}
void AddRNoveltyPlus() {
ALGORITHM *pCurAlg;
pCurAlg = CreateAlgorithm("rnovelty+","",FALSE,
"RNovelty+: RNovelty with random walk",
"Hoos [AAAI 99]",
"PickRNoveltyPlus",
"DefaultProcedures,Flip+FalseClauseList,VarLastChange",
"default","default");
CopyParameters(pCurAlg,"novelty+","",FALSE);
CreateTrigger("PickRNoveltyPlus",ChooseCandidate,PickRNoveltyPlus,"","");
}
void AddRNovelty() {
ALGORITHM *pCurAlg;
pCurAlg = CreateAlgorithm("rnovelty","",FALSE,
"RNovelty",
"McAllester, Selman, Kautz [AAAI 97]",
"PickRNovelty",
"DefaultProcedures,Flip+FalseClauseList,VarLastChange",
"default","default");
CopyParameters(pCurAlg,"novelty","",FALSE);
CreateTrigger("PickRNovelty",ChooseCandidate,PickRNovelty,"","");
}
void MainEventPool::ParseAllTriggers(XmlNode* rootNode)
{
// trigsNode is root node in map's triggers file
// First save all variables - find node Variables
XmlNode* varsNode = rootNode->first_node("Variables", 9);
// Save all variables
// Create triggers - find Triggers node
XmlNode* trigsNode = rootNode->first_node("Triggers", 8);
XmlNode* trigNode = trigsNode->first_node("Trigger");
while(trigNode != 0)
{
Trigger* trigger = CreateTrigger(trigNode);
_triggers.insert(std::make_pair(trigger->GetName(), trigger));
bool enabled = XmlUtility::XmlGetBoolIfExists(trigNode, "is_enabled", true);
if(enabled)
trigger->Enable();
trigNode = trigNode->next_sibling();
}
}
void getkey(unsigned char key,int x,int y)
{
static int drawMode = 0;
switch(key)
{
case 27:
exit(0);
break;
case '0':
ResetNx();
break;
case '1':
CreateCube(NxVec3(0.0f, 30.0f, 0.0f), 1+(rand()&3));
break;
case '2':
{
NxVec3 t = g_CameraPos;
NxVec3 Vel = g_CameraForward;
Vel.normalize();
Vel*=200.0f;
CreateTrigger(t, 8 ,&Vel, true);
}
break;
case '3':
CreateStack(10);
break;
case 'p':
case 'P':
gMyPhysX.pauseSimulation(!gMyPhysX.isPaused());
break;
case 'h':
case 'H':
g_DisplayHelp = !g_DisplayHelp;
break;
case 'f':
case 'F':
FullScreen();
break;
case 't':
case 'T':
drawMode = ++drawMode % 3;
if(drawMode == 0) // fill mode
{
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
}
else if(drawMode == 1) // wireframe mode
{
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glDisable(GL_DEPTH_TEST);
glDisable(GL_CULL_FACE);
}
else // point mode
{
glPolygonMode(GL_FRONT_AND_BACK, GL_POINT);
glDisable(GL_DEPTH_TEST);
glDisable(GL_CULL_FACE);
}
break;
case ' ':
g_CameraPos = NxVec3(0.0f, 20.0f, 80.0f);
g_CameraForward = NxVec3(0.0f,0.0f,-1.0f);
g_fovy =90.0f;
break;
default:
break;
}
glutPostRedisplay();
glCheckError("getkey");
}
void CreateBuoyancyTrigger (const dMatrix& matrix, NewtonCollision* const convexShape)
{
CustomTriggerController* const controller = CreateTrigger (matrix, convexShape, NULL);
BuoyancyForce* const buoyancyForce = new BuoyancyForce (controller);
controller->SetUserData (buoyancyForce);
}
