void* startPSO(void* tData){
int i, j;
TData* myData = (TData*)tData;
int id = myData->id;
int numAnts = myData->numAnts;
int function = myData->function;
int mode = myData->mode;
//init swarm
Ant* swarm[numAnts];
/***START create ants and wait for all ants to be created***/
//lock ant creation for other threads
pthread_mutex_lock(&mt);
for(i = 0; i < numAnts; i++){
swarm[i] = initAnt(function);
antsCreated++;
}
//init bestG
if(bestG==NULL){
bestG = (BestGlobal*)malloc(sizeof(BestGlobal));
bestG->coos = (Point*)malloc(sizeof(Point));
Ant* tmp = swarm[0];
bestG->value = calFun(myData->function,tmp);
bestG->coos->x = tmp->position->x;
bestG->coos->y = tmp->position->y;
}
//unllock ant creation for other threads
pthread_mutex_unlock(&mt);
//wait for all ants to be created
while(antsCreated<antsTotal){
pthread_cond_wait(&condition_var,&creation_mutex);
}
//all ants created -> wake all waiting threads
if(antsCreated>=antsTotal-1){
pthread_cond_broadcast(&condition_var);
}
pthread_mutex_unlock(&creation_mutex);
/*****END create ants and wait for all ants to be created*****/
//lock Global best access for other threads
pthread_mutex_lock(&mt2);
for(i = 0; i < numAnts; i++){
sem_wait(&findGlobalBestMutex); //enter and block access
findGlobalBest(swarm[i], mode); //critical
sem_post(&findGlobalBestMutex); //leave and realese access
}
threadsReady++;
pthread_mutex_unlock(&mt2);
//wait for all threads to find global
while(threadsReady<numThreads){
pthread_cond_wait(&ready,&vel_mutex);
}
//all threads are ready -> wake threads
if(threadsReady>= numThreads){
pthread_cond_broadcast(&ready);
}
pthread_mutex_unlock(&vel_mutex);
for(i = 0; i < MAXITERATIONS; i++){
for(j = 0; j < numAnts; j++){
calVelocity(&swarm[j]);
moveAnt(&(swarm[j]), function, mode);
}
for(j = 0; j < numAnts; j++){
findGlobalBest(swarm[j], mode);
}
}
}
void ArmyRole::makeTransform()
{
if(gp->jointNump>0 && gp->animations){
//getGL().chooseMatrix(GLSL::MMATRIX);
//getGL().setIdentity();
if (pAFG->change_stay == 0) {
//pAFG->change_stay = 1;
//Entity::draw();
moveState=STATE_STOP;
//getGL().glslUpdate();
} else {
//float x1=-166.0;
//float y1=57.2;
//float x2=13.5;
//float y2=57.2;
if(pAFG->frame!=pAFG->lastFrame)
{
//LOGI("nextPos : %f, %f, %f ", nextPos[0],nextPos[1],nextPos[2]);
calVelocity();
for(int i=0;i<vAR.size();i++)
{
if(vAR[i]->state!=2)
pPhyC->interact(vAR[i]);
}
//LOGI("pos h: %f, %f ,%f", nowPos[1],nextPos[1],pPScene->h);
//if(pPScene->hasTouch(nowPos, nextPos)) LOGI("hasTouch");
//LOGI("isInside:%d",pPScene->isInside(nowPos) );
//if(pPScene->isInside(nowPos))
{
floorHeight=pPScene->h-0.5;
if(nextPos[1]<floorHeight)
if(moveCode!=ID_FALLDOWN1)
{
//LOGI("nextPos[1] : %f", nextPos[1]);
nextPos[1]=floorHeight;
}
pPScene->calculate(nowPos, nextPos,50.0f);
}
//else
{
// floorHeight=-100;
//nextPos[1]-=1;
}
//if(abs(nowPos[1]-floorHeight)>3)
// posState=POSSTATE_SKY;
//else
// posState=POSSTATE_GROUND;
//LOGI("pos : %f, %f, %f ", nextPos[0],nextPos[1],nextPos[2]);floorHeight;//
pTransform->pTOmatrix->mMatrixQueue.back()[12]=nextPos[0];
pTransform->pTOmatrix->mMatrixQueue.back()[13]=nextPos[1];//-bodyHeight
pTransform->pTOmatrix->mMatrixQueue.back()[14]=nextPos[2];
}
//getGL().chooseMatrix(GLSL::MMATRIX);
//getGL().setIdentity();
//Entity::draw();
//getGL().glslUpdate();
}
//Entity::draw();
//getGL().glslUpdate();
}
}
