void RagdollDemo::initPhysics()
{
//ASSIGNMENT 8
ragdolldemo = this;
//ASSIGNMENT 9
srand(time(NULL));
//ASSIGNMENT 10
pause = false;
//ragdolldemo->touches = new btVector3*
// Setup the basic world
//setTexturing(true);
//setShadows(true);
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
//ASSIGNMENT 10
string line;
ifstream myfile("../../RAGDOLL_DATA/weights.txt");
cout << "NORMAL SYNAPSE" << endl;
for(int i = 0; i < 4; i++)
{
for(int k = 0; k < 8; k++)
{
getline(myfile,line);
stringstream convert(line);
convert >> synapseWeights[i][k];
cout << synapseWeights[i][k] << " | ";
}
cout << endl;
}
myfile.close();
//GET RECURRENT SYNAPSE
line = "";
ifstream myfile3("../../RAGDOLL_DATA/recurrent.txt");
cout << "RECURRNT SYNAPSE" << endl;
for(int i = 0; i < 4; i++)
{
for(int k = 0; k < 8; k++)
{
getline(myfile3,line);
stringstream convert(line);
convert >> synapseRecurrent[i][k];
cout << synapseRecurrent[i][k] << " | ";
}
cout << endl;
}
myfile.close();
// GET MASK
recurrentOn = false;
line = "";
cout << "PRINTING RECURRENT" << endl;
ifstream myfile2("../../RAGDOLL_DATA/mask.txt");
for(int i = 0; i < 4; i++)
{
for(int k = 0; k < 8; k++)
{
getline(myfile2,line);
stringstream convert(line);
convert >> mask[i][k];
cout << mask[i][k] << " | ";
if(mask[i][k] == 1)
{
recurrentOn = true;
}
}
cout << endl;
}
myfile2.close();
cout << "INITIAL PEVIOUS TOUCH" << endl;
//INITIAL PREVIOUS STEP = 0
for(int i = 0; i < 4; i++)
{
previousTouch[i] = 0;
cout << previousTouch[i] << " | ";
}
cout << endl;
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
//ASSIGNMENT 8
/*
btTransform offset;
offset.setIdentity();
offset.setOrigin(btVector3(btScalar(0),btScalar(-10),btScalar(0)));
btRigidBody* fixedGround = localCreateRigidBody(btScalar(1.0),offset, groundShape);
fixedGround->setCollisionFlags(3);
*/
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setFriction(btScalar(10000.0));
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
currentIndex = 0;
/*
fixedGround->setCollisionFlags(fixedGround->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
fixedGround->setCenterOfMassTransform(offset);
*/
collisionID[currentIndex] = new collisionObject(currentIndex, (btRigidBody *)groundShape);
fixedGround->setUserPointer(collisionID[currentIndex]);
cout << "OBJECT ID: " << collisionID[currentIndex]->id;
cout << " | POINTER ID: " << ((collisionObject*)fixedGround->getUserPointer())->id;
cout << " | ADDRESS " << collisionID[currentIndex];
cout << " | FLAGS " << collisionID[currentIndex]->body->getCollisionFlags() << endl;
currentIndex++;
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
gContactAddedCallback = callBackFunc;
//BODY ------------------------------------------------------------------
//(index, x, y, z, length, width, height)
RagdollDemo::CreateBox(0, 0.0, 1.8, 0.0, 1.0, 0.2, 1.0);//WORKING
//FEET
RagdollDemo::CreateCylinder(3, 3.2, 0, 0, 1, .2, 0, M_PI_2, 0); //WORKING -> NORMAL
RagdollDemo::CreateCylinder(4, -3.2, 0, 0, 1, .2, 0, -M_PI_2, 0); //WORKING -> NORMAL
RagdollDemo::CreateCylinder(8, 0, 0, -3.2, 1, .2, 0, M_PI_2, 0); //WORKING -> ROTATED
RagdollDemo::CreateCylinder(6, 0, 0, 3.2, 1, .2, 0, M_PI_2, 0); //WORKING -> NORMAL ->
//ARM
RagdollDemo::CreateCylinder(5, 0.0, 0.8, 2.0, 1.0, 0.2, M_PI_2, 0.0, 0.0);//WORKING -> ROTATED
RagdollDemo::CreateCylinder(7, 0.0, 0.8, -2.0, 1.0, 0.2, M_PI_2, 0.0, 0.0);//WORKIN G-> ROTATED
RagdollDemo::CreateCylinder(1, 2.0, .8, 0.0, 1.0, 0.2, 0.0, 0.0, M_PI_2);//WORKING -> NORMAL
RagdollDemo::CreateCylinder(2, -2.0, .8, 0.0, 1.0, 0.2, 0, M_PI_2, M_PI_2);//WORKING -> NORMAL
//FEET HINGE
RagdollDemo::CreateHinge(2,3,1, btVector3(0.0, 0.0, 1.0), btVector3(0.0, 0.0, 1.0),btVector3(0.0, 1.0, 0.0), btVector3(0, -1.0, 0.0));//WORKING
RagdollDemo::CreateHinge(3,4,2, btVector3(1.0, 0.0, 0.0), btVector3(0.0, 0.0, 1.0),btVector3(0.0, 1.0, 0.0), btVector3(0, 1.0, 0.0)); //WORKIN
RagdollDemo::CreateHinge(6,7,8, btVector3(1.0, 0.0, 0.0), btVector3(1.0, 0.0, 0.0),btVector3(0.0, -1.0, 0.0), btVector3(0, 1.0, 0.0));//WORKING -> ROTATED
RagdollDemo::CreateHinge(5,5,6, btVector3(1.0, 0.0, 0.0), btVector3(1.0, 0.0, 0.0),btVector3(0.0, 1.0, 0.0), btVector3(0, 1.0, 0.0));//WORKING -> ROTATED //
//ARM HINGE
RagdollDemo::CreateHinge(4,0,5, btVector3(1.0, 0.0, 0.0), btVector3(1.0, 0.0, 0.0),btVector3(0.0, 0.0, 1.0), btVector3(0, -1.0, 0.0));//WORKING -> ROTATED
RagdollDemo::CreateHinge(7,0,7, btVector3(1.0, 0.0, 0.0), btVector3(1.0, 0.0, 0.0),btVector3(0.0, 0.0, -1.0), btVector3(0, 1.0, 0.0));//WORKING -> ROTATED
RagdollDemo::CreateHinge(0,0,1, btVector3(0.0, 0.0, 1.0), btVector3(0.0, 0.0, 1.0), btVector3(1.0, 0.0, 0.0), btVector3(0.0, 1.0, 0.0));//WORKING
RagdollDemo::CreateHinge(1,0,2, btVector3(0.0, 0.0, 1.0), btVector3(0.0, 0.0, 1.0),btVector3(-1.0, 0.0, 0.0), btVector3(0.0, -1.0, 0.0));//WORKING
clientResetScene();
}
void MC::MCRUN()
{
Cells s(c,r);
stringstream st;
double addordel; // the prob to decide either add or del;
// double probd;//,proba; // the acceptance prob of addition; proba = min(1.0,aaccp);
double prob; // the prob to decide either accept add/del;
double aaccp,daccp;
double Q; // the fraction of hor and ver particle;
double tho; // the density
double AD;// addition and deletion fraction
double size;
srand(time(NULL));
long int i = 0;
// Histogram his(0, r*c/length, 1); // the histogram of nv
//================================Start my MC simulation=================================
while (i<step)
{
i++;
// generate a random probability to decide either add or del;
addordel = rand()%2;
size = av+ah-dv-dh;
// *****************define the probabilities ***********************************// I HAVE TO CHANGE IT FOR LATTICE GAS CASE!!!
prob = ((double) rand() / (RAND_MAX));
tho = double(length*size)/double(r*c);
aaccp = z*double(r*c)/(double(nh+nv+1.0)*double(length));
daccp = (double(nh+nv)*double(length))/(z*double(r*c));
// proba = min(1.0,aaccp);
// probd = min(1.0,daccp);
// ===========================Addition ===================================
if(addordel == 0)
{
//Do Addition;
Add(s,prob,aaccp);
}
// ============================Deletion=============================
else
{
if (size != 0) // make sure there are rods to be del;
{
//Do deletion;
Del(s,prob,daccp,size);
}
}
// ======================= Record the datas =============================================
Q = (nv - nh)/(nh + nv);
AD = (av+ah-dv-dh)/(av+ah+dv+dh);
if (i%(step/10000) == 0)
{
// his.record(nv);
st << i << " " << Q <<" "<< nv << " "<< nh << " "<< tho << " "<< AD<< " "<< endl;
cout <<"Process: "<< ((10000*i)/step)/100.00 <<"%"<<" "<<"SIZE: "<<av+ah-dv-dh<<" "<<"# of Ver Rod: "<<nv<<" "<<"# of Hor Rod: "<< nh <<" "<<"Qis "<<Q <<" "<<"tho is: "<<tho << endl;
}
}
// Record the data into a txt file
ofstream myfile3 ("dataplot.dat");
string data = st.str();
myfile3 << data;
myfile3.close();
// his.plot(0);
}
