/* create an ellipsoid */
ELLIP* ELLIP_Create (double *center, double *radii, int surface, int volume)
{
ELLIP *eli;
ERRMEM (eli = malloc (sizeof (ELLIP)));
COPY (center, eli->ref_center);
COPY (center, eli->ref_point [0]); eli->ref_point[0][0] += radii [0];
COPY (center, eli->ref_point [1]); eli->ref_point[1][1] += radii [1];
COPY (center, eli->ref_point [2]); eli->ref_point[2][2] += radii [2];
COPY (center, eli->cur_center);
COPY (center, eli->cur_point [0]); eli->cur_point[0][0] += radii [0];
COPY (center, eli->cur_point [1]); eli->cur_point[1][1] += radii [1];
COPY (center, eli->cur_point [2]); eli->cur_point[2][2] += radii [2];
COPY (radii, eli->ref_sca);
COPY (radii, eli->cur_sca);
IDENTITY (eli->ref_rot);
IDENTITY (eli->cur_rot);
eli->surface = surface;
eli->volume = volume;
eli->mat = NULL;
return eli;
}
/* compute partial characteristic: 'vo'lume and static momenta
* 'sx', 'sy, 'sz' and 'eul'er tensor; assume that all input data is initially zero; */
void ELLIP_Char_Partial (ELLIP *eli, int ref, double *vo, double *sx, double *sy, double *sz, double *eul)
{
double v, a, b, c, e, *x, *R, tmp [9], tmq [9], eye [9];
if (ref)
{
ELLIP *elj = ELLIP_Copy (eli);
ELLIP_Update (elj, NULL, NULL, NULL);
ELLIP_Char_Partial (elj, 0, vo, sx, sy, sz, eul);
ELLIP_Destroy (elj);
return;
}
R = eli->cur_rot;
x = eli->cur_center;
a = eli->cur_sca [0];
b = eli->cur_sca [1];
c = eli->cur_sca [2];
v = (4.0/3.0)*ALG_PI*a*b*c;
/* Stainer's theorem =>
* J(i, j) = I(i, j) + M*(<x,x> * delta (i, j) - diadic (x, x))
* hence it is possible to produce inertia tensor with respect
* to the origin from one with respect to the center point */
e = DOT (x, x);
IDENTITY (eye);
SCALEDIAG (eye, e);
DIADIC (x, x, tmp);
NNSUB (eye, tmp, tmp);
SCALE9 (tmp, v);
IDENTITY (eye); /* prepare I0 (i, j) */
eye [0] = v * (b*b + c*c) / 5.0;
eye [4] = v * (a*a + c*c) / 5.0;
eye [8] = v * (b*b + a*a) / 5.0;
NTMUL (eye, R, tmq);
NNMUL (R, tmq, eye); /* I1 (i, j) = R I0 R' */
NNADD (eye, tmp, tmp); /* tmp = inertia of the sphere with respect to x, y, z passing 0 (see above) */
/* note that Inertia = Trace(Euler)*Identity - Euler,
* hence Euler = 0.5 * Trace (Inertia)*Identity - Inertia,
* as Trace(Inertia) = 3*Trace(Euler) - Trace(Euler) */
e = 0.5 * TRACE (tmp);
IDENTITY (eye);
SCALEDIAG (eye, e);
NNSUB (eye, tmp, tmp); /* tmp = euler tensor with repsect to x, y, z passing 0 */
/* sum up */
*vo += v;
*sx += v * x [0];
*sy += v * x [1];
*sz += v * x [2];
NNADD (tmp, eul, eul);
/* TODO: make sure the above is correct */
}
/* compute partial characteristic: 'vo'lume and static momenta
* 'sx', 'sy, 'sz' and 'eul'er tensor; assume that all input data is initially zero; */
void SPHERE_Char_Partial (SPHERE *sph, int ref, double *vo, double *sx, double *sy, double *sz, double *eul)
{
double v, e, r, *a, tmp [9], eye [9];
r = ref ? sph->ref_radius : sph->cur_radius;
a = ref ? sph->ref_center : sph->cur_center;
v = (4.0/3.0)*ALG_PI*r*r*r;
/* Stainer's theorem =>
* J(i, j) = I(i, j) + M*(a^2 * delta (i, j) - diadic (a, a))
* hence it is possible to produce inertia tensor with respect
* to the origin from one with respect to the center point */
e = DOT (a, a);
IDENTITY (eye);
SCALEDIAG (eye, e);
DIADIC (a, a, tmp);
NNSUB (eye, tmp, tmp);
SCALE9 (tmp, v);
e = (2.0/5.0)*v*r*r; /* diagonal entry of sphere inertia tensor */
IDENTITY (eye);
SCALEDIAG (eye, e);
NNADD (eye, tmp, tmp); /* tmp = inertia of the sphere with respect to x, y, z passing 0 (see above) */
/* note that Inertia = Trace(Euler)*Identity - Euler,
* hence Euler = 0.5 * Trace (Inertia)*Identity - Inertia,
* as Trace(Inertia) = 3*Trace(Euler) - Trace(Euler) */
e = 0.5 * TRACE (tmp);
IDENTITY (eye);
SCALEDIAG (eye, e);
NNSUB (eye, tmp, tmp); /* tmp = euler tensor with repsect to x, y, z passing 0 */
/* sum up */
*vo += v;
*sx += v * a [0];
*sy += v * a [1];
*sz += v * a [2];
NNADD (tmp, eul, eul);
/* TODO: make sure the above is correct */
}
/* calculate mass characteristics: scalar mass, mass center, inertia tensor */
void MESH_Char (MESH_DATA *msh, REAL *mass, REAL *center, REAL *inertia)
{
REAL me, sx, sy, sz, euler [9];
ELEMENT *ele;
me = sx = sy = sz = 0.0;
SET9 (euler, 0.0);
for (ele = msh->bulkeles; ele; ele = ele->next)
element_char_add (msh, ele, &me, &sx, &sy, &sz, euler);
for (ele = msh->surfeles; ele; ele = ele->next)
element_char_add (msh, ele, &me, &sx, &sy, &sz, euler);
mass[0] = me;
center [0] = sx / me;
center [1] = sy / me;
center [2] = sz / me;
euler [0] -= (2*sx - center[0]*me)*center[0];
euler [4] -= (2*sy - center[1]*me)*center[1];
euler [8] -= (2*sz - center[2]*me)*center[2];
euler [3] -= center[0]*sy + center[1]*sx - center[0]*center[1]*me;
euler [6] -= center[0]*sz + center[2]*sx - center[0]*center[2]*me;
euler [7] -= center[1]*sz + center[2]*sy - center[1]*center[2]*me;
euler [1] = euler[3];
euler [2] = euler[6];
euler [5] = euler[7];
/* convert Euler tensor to the inertia tensor */
REAL trace = TRACE (euler);
IDENTITY (inertia);
SCALE9 (inertia, trace);
NNSUB (inertia, euler, inertia); /* inertia = tr(euler)*one - euler */
}
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;
}
HRESULT CHveDbController::SaveDBElement(RESULT_ELEMENT* pElement)
{
HRESULT hr = S_OK;
if(!m_fIsConnecting)
{
SaveLog("数据库连接已经断开，尝试重新连接...");
hr = ConnectDB();
}
if(!m_fIsConnecting)
{
char szOutPutInfo[100];
sprintf(szOutPutInfo, "连接数据库失败，保存%s结果失败...错误码:%d", pElement->szPlateNo, GetLastError());
SaveLog(szOutPutInfo);
OutPutMessage(szOutPutInfo);
return E_FAIL;
}
_variant_t RecordsAffected;
CTime cTime(pElement->dw64TimeMs / 1000);
CString strTime = cTime.Format("%Y-%m-%d %H:%M:%S");
CString strCurTable = cTime.Format("Hve_Data_%Y%m%d");
//int iMinute = cTime.GetMinute();
//CString strTmp = cTime.Format("Hve_Data_%Y%m%d%H");
//strCurTable.Format("%s_%d",strTmp.GetBuffer(), iMinute/10); // 10分钟一张表
//strTmp.ReleaseBuffer();
if(m_strLastTable != strCurTable)
{
char szCmdText[1024] = {0};
//try
//{
// sprintf(szCmdText, "Create TABLE %s(Record_Id bigint primary key IDENTITY (1, 1) NOT NULL,\
// Location_Id int NOT NULL,Pass_Time datetime NOT NULL, Plate_No char(20), Road_No int,\
// Car_Speed int, Obj_Id int, Time_Headway int, Over_Line int, Cross_Line int,\
// Emergency_Stop int, Reverse_Run bit, Special_Result bit, big_image_1_path char(256),\
// big_image_2_path char(256), big_image_3_path char(256), big_image_4_path char(256),\
// big_image_5_path char(256), small_image_path char(256), bin_image_path char(256),\
// video_path char(256))", strCurTable.GetBuffer());
// m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
// sprintf(szCmdText, "CREATE INDEX [Pass_Time] ON [dbo].[%s] ([Pass_Time])", strCurTable.GetBuffer());
// m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
// sprintf(szCmdText, "CREATE INDEX [Obj_Id] ON [dbo].[%s] ([Obj_Id])", strCurTable.GetBuffer());
// m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
// sprintf(szCmdText, "CREATE INDEX [Special_Result] ON [dbo].[%s] ([Special_Result])", strCurTable.GetBuffer());
// m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
//}
//表存在则不创建
try
{
sprintf(szCmdText, "if not exists (select * from dbo.sysobjects where id = object_id(N'[dbo].[%s]') and OBJECTPROPERTY(id, N'IsUserTable') = 1) \
Create TABLE %s(Record_Id bigint primary key IDENTITY (1, 1) NOT NULL,\
Location_Id int NOT NULL,Pass_Time datetime NOT NULL, Plate_No char(20), Road_No int, Road_Name char(25),Road_Direct char(10),\
Car_Speed int, Obj_Id int, Time_Headway int, Over_Line int, Cross_Line int,\
Emergency_Stop int, Reverse_Run bit, Speeding bit, Special_Result bit, big_image_1_path varchar(256),\
big_image_2_path varchar(256), big_image_3_path varchar(256), big_image_4_path varchar(256),\
big_image_5_path varchar(256), small_image_path varchar(256), bin_image_path varchar(256),\
video_path varchar(256))",strCurTable.GetBuffer(),strCurTable.GetBuffer());
m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
sprintf(szCmdText, "if not exists (select * from sysindexes where name='Pass_Time') CREATE INDEX [Pass_Time] ON [dbo].[%s] ([Pass_Time])", strCurTable.GetBuffer());
m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
sprintf(szCmdText, "if not exists (select * from sysindexes where name='Obj_Id') CREATE INDEX [Obj_Id] ON [dbo].[%s] ([Obj_Id])", strCurTable.GetBuffer());
m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
sprintf(szCmdText, "if not exists (select * from sysindexes where name='Special_Result') CREATE INDEX [Special_Result] ON [dbo].[%s] ([Special_Result])", strCurTable.GetBuffer());
m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
}
catch (_com_error e)
{
m_fIsConnecting = FALSE;
CString strErrorMessage;
strErrorMessage.Format("创建表失败!错误信息:%s 错误码:%d", e.ErrorMessage(), GetLastError());
SaveLog(strErrorMessage.GetBuffer());
SaveLog(e.Description());
OutPutMessage("创建数据表失败!");
}
///////视图创建 由查询软件创建
//try
//{
// char szCmdText[1024] = {0};
// sprintf(szCmdText, "IF EXISTS (SELECT TABLE_NAME FROM INFORMATION_SCHEMA.VIEWS WHERE TABLE_NAME = N'Hve_Data_View') DROP VIEW Hve_Data_View");
// m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
//}
//catch (_com_error e)
//{
// CString strErrorMessage;
// strErrorMessage.Format("删除视图失败! 错误信息:%s 错误码:%d", e.ErrorMessage(), GetLastError());
// SaveLog(strErrorMessage.GetBuffer());
// SaveLog(e.Description());
// OutPutMessage("删除视图失败...");
//}
//bool fIsCreateViewFault = true;
//int iRetry = 0;
//while(fIsCreateViewFault)
//{
// if(iRetry++ == 5)
// {
// exit(1); //reboot
// }
// try
// {
// _RecordsetPtr pPtr;
// CString strName;
// if(FAILED(pPtr.CreateInstance("ADODB.Recordset")))
// {
// OutPutMessage("创建ADO数据集失败...");
// return E_FAIL;
// }
// CString strConnectInfo;
// strConnectInfo.Format("Driver=SQL Server;Server=%s;DATABASE=%s;UID=%s;PWD=%s",
// m_strServerIP, m_strDataBase, m_strUserName, m_strPassword);
// CString strCommand = "SELECT name FROM sysobjects WHERE (name LIKE 'Hve_Data_%')";;
// if(FAILED(pPtr->Open(_variant_t(strCommand), _variant_t(strConnectInfo), adOpenStatic, adLockOptimistic, adCmdText)))
// {
// OutPutMessage("获取数据表名字失败...");
// pPtr.Release();
// return E_FAIL;
// }
// while(!pPtr->GetadoEOF())
// {
// CString strTmp = (char*)_bstr_t(pPtr->GetCollect("name"));
// strTmp.TrimRight();
// if(strName == "")
// {
// strName.Format("(SELECT * FROM %s)", strTmp);
// }
// else
// {
// strName.AppendFormat("union (SELECT * FROM %s)", strTmp);
// }
// pPtr->MoveNext();
// }
// pPtr->Close();
// pPtr.Release();
// char szCmdText[1024] = {0};
// sprintf(szCmdText, "CREATE VIEW Hve_Data_View AS %s", strName);
// m_pConnection->Execute((_bstr_t)szCmdText, &RecordsAffected, adCmdText);
// fIsCreateViewFault = false;
// }
// catch (_com_error e)
// {
// fIsCreateViewFault = true;
// CString strErrorMessage;
// strErrorMessage.Format("创建视图失败... 错误码:%d", GetLastError());
// SaveLog(strErrorMessage.GetBuffer());
// SaveLog(e.Description());
// OutPutMessage("创建视图失败...");
// }
//}
}