void MCMCPkPg::sample( PkPgModel& model, PkPgResult& Result )//(SEXP dyn_eval, SEXP rho)
{
cIter = 0;
//int tidx = 0;
//int chain = 0;
// Result.InitializeSummary( model );
int total_iter = nBURN + nTHIN * nSAMPLE;
acceptTheta=zeros<mat>( model.N, total_iter );
for( cIter = 0; cIter < total_iter; cIter++ ){
//std::cout << "iteration: "<< cIter << std::endl;
Rprintf("iteration: %d\n", cIter+1);
//for( chain = 0; chain < NCHAIN; chain++ ){
//Rprintf("Update Omega theta\n");
sampleOtheta( model, Result );
if(flgSNP == 1){
//Rprintf("Update Omega SNP\n");
sampleOsnp( model, Result );
//Rprintf("Update Z\n");
sampleZ( model, Result );
//Rprintf("Update Beta Pg\n");
sampleBetaPg( model, Result );
//Rprintf("Update Rho\n");
sampleRho( model, Result );
}
//Rprintf("Update Beta Pk\n");
sampleBetaPk( model, Result );
// update Z*Rho
// SNPs ---------------------------------------------------------------------
//Rprintf("Update means\n");
Result.update_mth( model );
// PK -----------------------------------------------------------------------
//Rprintf("Sample Sigma\n");
sampleSigma( model, Result );
//Rprintf("Update Fit\n");
update_fit( model, Result );
//Rprintf("Sample Theta\n");
sampleTheta( model, Result ); // make sure Result.mTheta is up to date
//Rprintf("Update Theta Bar\n");
update_theta_bar( model, Result );
//Rprintf("Update Sigma Theta\n");
update_sigma_theta( model, Result );
// update_fit_parallel( model, Result );
//mcmc_Sth();
// RJ -----------------------------------------------------------------------
//
// record
if( ( cIter >= nBURN ) && ( ( cIter - nBURN ) % nTHIN == 0 ) ) {
Result.SaveDraws( model );
}
}
Result.SaveFinal( model );
} // END MCMC_main ---------------------------------------------------------------------
Jumper::CanopyOpening::CanopyOpening(Jumper* jumper, NxActor* phFreeFall, NxActor* phFlight, MatrixConversion* mcFlight, PilotchuteSimulator* pc, CanopySimulator* c, NxVec3 fla, NxVec3 fra, NxVec3 rla, NxVec3 rra) :
JumperAction( jumper )
{
// set action properties
_actionTime = 0.0f;
_blendTime = 0.2f;
_endOfAction = false;
_phActor = phFlight;
_matrixConversion = mcFlight;
_pilotchute = pc;
_canopy = c;
_frontLeftAnchor = fla;
_frontRightAnchor = fra;
_rearLeftAnchor = rla;
_rearRightAnchor = rra;
_initialLD = phFlight->getLinearDamping();
// activate jumper body simulator
Matrix4f sampleLTM = Jumper::getCollisionFC( _clump )->getFrame()->getLTM();
phFlight->setGlobalPose( wrap( sampleLTM ) );
phFlight->wakeUp();
phFlight->setLinearVelocity( phFreeFall->getLinearVelocity() );
phFlight->setAngularVelocity( phFreeFall->getAngularVelocity() );
// connect & open canopy
_canopy->connect(
_phActor,
_frontLeftAnchor,
_frontRightAnchor,
_rearLeftAnchor,
_rearRightAnchor,
Jumper::getFrontLeftRiser( _clump ),
Jumper::getFrontRightRiser( _clump ),
Jumper::getRearLeftRiser( _clump ),
Jumper::getRearRightRiser( _clump )
);
// age
if (_jumper->getCanopyReserveSimulator() && _jumper->getCanopyReserveSimulator() == _canopy) {
++jumper->getVirtues()->equipment.reserve.age;
} else {
++jumper->getVirtues()->equipment.canopy.age;
}
// retrieve pilotchute velocity
float pcVel = pc->getPhActor()->getLinearVelocity().magnitude();
float anglVel = phFreeFall->getAngularVelocity().magnitude();
// retrieve pilotchute reference velocity
database::Canopy* canopyInfo = _canopy->getGearRecord();
database::Pilotchute* pcInfo;
if (_jumper->getCanopyReserveSimulator() == _canopy) {
pcInfo = canopyInfo->pilots;
} else {
assert( canopyInfo->numPilots > _jumper->getVirtues()->equipment.pilotchute );
pcInfo = canopyInfo->pilots + _jumper->getVirtues()->equipment.pilotchute;
}
// probability of lineover
float lineoverProb = _jumper->getVirtues()->getLineoverProbability( pcVel / pcInfo->Vrec );
// no slider has not smaller probability
if (_jumper->getVirtues()->equipment.sliderOption != soRemoved) {
lineoverProb *= 0.3f;
}
// reserves have 70% less lineover probability
if (_jumper->getCanopyReserveSimulator() == _canopy) {
lineoverProb *= 0.3f;
}
bool leftLineover = ( getCore()->getRandToolkit()->getUniform( 0, 1 ) < lineoverProb );
bool rightLineover = !leftLineover && ( getCore()->getRandToolkit()->getUniform( 0, 1 ) < lineoverProb );
float leftLOW = leftLineover ? getCore()->getRandToolkit()->getUniform( 0.5, 1.0f ) : 0;
float rightLOW = rightLineover ? getCore()->getRandToolkit()->getUniform( 0.5, 1.0f ) : 0;
// probability of linetwists
// add probability if spinning
//if( _jumper->isPlayer() ) getCore()->logMessage( "angular velocity component on deployment: %2.10f", anglVel * 0.13f );
float linetwistsProb = _jumper->getVirtues()->getLinetwistsProbability( pcVel ) + anglVel * 0.13f;
float linetwistsDice = getCore()->getRandToolkit()->getUniform( 0.0f, 1.0f );
// probability of linetwists because of incorrect body position
NxVec3 motionDir = _jumper->getFreefallActor()->getLinearVelocity(); motionDir.normalize();
NxVec3 canopyDown = _jumper->getFreefallActor()->getGlobalPose().M.getColumn(2); canopyDown.normalize();
float relativity = 1.0f + fabs(canopyDown.dot( motionDir ));
linetwistsProb *= relativity;
// reserves have 50% less linetwist probability
if (_jumper->getCanopyReserveSimulator() == _canopy) {
linetwistsProb *= 0.5f;
}
// base canopies gave 40% less linetwist probability
else if (!canopyInfo->skydiving) {
linetwistsProb *= 0.4f;
}
bool linetwists = ( linetwistsDice <= linetwistsProb );
//if( _jumper->isPlayer() ) {
//getCore()->logMessage( "linetwists prob: %3.5f", linetwistsProb );
//getCore()->logMessage( "linetwists dice: %3.5f", linetwistsDice );
//} else {
//getCore()->logMessage( "linetwists prob BOT: %3.5f", linetwistsProb );
//getCore()->logMessage( "linetwists dice BOT: %3.5f", linetwistsDice );
//}
// generate linetwists (positive is righttwist, negative is lefttwist)
// the smaller the canopy, the heavier the linetwist
float sq = canopyInfo->square * 2.0f;
// 300 canopy: 120; 840
// 200 canopy: 320; 1040
// 100 canopy: 520; 1240
float linetwistsAngle = getCore()->getRandToolkit()->getUniform( 720 - sq, 1540 - sq );
if (linetwistsAngle > 1080.0f) {
linetwistsAngle = 1440.0f;
} else if (linetwistsAngle < 320.0f) {
linetwistsAngle = 180.0f;
}
float sign = getCore()->getRandToolkit()->getUniform( -1, 1 );
sign = sign < 0.0f ? -1.0f : ( sign > 0.0f ? 1.0f : 0.0f );
linetwistsAngle *= sign;
if( !linetwists ) linetwistsAngle = 0.0f;
// test, force linetwist
//if (!_jumper->isPlayer() && _jumper->getCanopyReserveSimulator() != _canopy) {
// linetwists = true;
// linetwistsAngle = 1440.0f;
//}
// offheading : canopy turns by specified angle
float minTurn = 30.0f; // rigging skill = 0.0
float maxTurn = 10.0f; // rigging skill = 1.0
float rigging = _jumper->getVirtues()->getRiggingSkill(); assert( rigging >= 0 && rigging <= 1 );
float turn = minTurn * ( 1 - rigging ) + maxTurn * rigging;
float angle = getCore()->getRandToolkit()->getUniform( -turn, turn );
//if( _jumper->isPlayer() ) getCore()->logMessage( "additional turn (offheading): %2.1f", angle );
//if( !_jumper->isPlayer() ) angle = 0;
Vector3f sampleX( sampleLTM[0][0], sampleLTM[0][1], sampleLTM[0][2] );
Vector3f sampleY( sampleLTM[1][0], sampleLTM[1][1], sampleLTM[1][2] );
Vector3f sampleZ( sampleLTM[2][0], sampleLTM[2][1], sampleLTM[2][2] );
Vector3f sampleP( sampleLTM[3][0], sampleLTM[3][1], sampleLTM[3][2] );
// orient canopy towards jumper velocity
sampleZ = wrap( phFlight->getLinearVelocity() );
sampleZ *= -1;
sampleZ.normalize();
sampleY = _jumper->getClump()->getFrame()->getAt() * -1;
sampleX.cross( sampleY, sampleZ );
sampleX.normalize();
sampleY.cross( sampleZ, sampleX );
sampleY.normalize();
sampleLTM.set(
sampleX[0], sampleX[1], sampleX[2], 0.0f,
sampleY[0], sampleY[1], sampleY[2], 0.0f,
sampleZ[0], sampleZ[1], sampleZ[2], 0.0f,
0.0f, 0.0f, 0.0f, 1.0f
);
// turn canopy by random angle
sampleLTM = Gameplay::iEngine->rotateMatrix( sampleLTM, sampleZ, angle );
// move clump behind jumper
sampleP -= sampleZ * 80.0f;
sampleLTM[3][0] = sampleP[0];
sampleLTM[3][1] = sampleP[1];
sampleLTM[3][2] = sampleP[2];
_canopy->open( wrap( sampleLTM ), _phActor->getLinearVelocity(), leftLOW, rightLOW, linetwistsAngle );
// reconnect pilotchute to canopy
_canopy->getClump()->getFrame()->getLTM();
_pilotchute->connect(
_canopy->getNxActor(),
CanopySimulator::getPilotCordJoint( _canopy->getClump() ),
_canopy->getPilotAnchor()
);
//_pilotchute->setFreebag(_canopy == _jumper->getCanopyReserveSimulator()); set in jumper constructor and jumper::fireReserveCanopy()
// put to sleep freefall simulator
phFreeFall->putToSleep();
phFreeFall->raiseActorFlag( NX_AF_DISABLE_COLLISION );
// show risers
Jumper::getRisers( _clump )->setFlags( engine::afRender );
// animation controller
engine::IAnimationController* animCtrl = _clump->getAnimationController();
// capture blend source
animCtrl->captureBlendSrc();
// reset animation mixer
for( unsigned int i=0; i<engine::maxAnimationTracks; i++ )
{
if( animCtrl->getTrackAnimation( i ) ) animCtrl->setTrackActivity( i, false );
}
// setup animation
animCtrl->setTrackAnimation( 0, &openingSequence );
animCtrl->setTrackActivity( 0, true );
animCtrl->setTrackSpeed( 0, 0.75f );
animCtrl->setTrackWeight( 0, 1.0f );
animCtrl->resetTrackTime( 0 );
animCtrl->advance( 0.0f );
// capture blend destination
animCtrl->captureBlendDst();
animCtrl->blend( 0.0f );
}
void CollapsedSampler::sample(){//{{{
Sampler::sample();
sampleZ();
}//}}}
