void testvector()
{
std::vector<boost::shared_ptr<A> > v(10);
A *pA = new A();
A *pB = new A();
boost::shared_ptr<A> sp1(pA);
boost::shared_ptr<A> sp2(pB);
std::cout<<"The Smartptr now has "<<sp1.use_count()<<" references\n";
v[0] = sp1;
std::cout<<"The Smartptr now has "<<sp1.use_count()<<" references\n";
std::vector<boost::shared_ptr<A> > ::iterator k = v.begin();
//v.erase(k);//删除第一个元素
//v.pop_back();
v[0] = sp2;
std::cout<<"The Smartptr now has "<<sp1.use_count()<<" references\n";
// std::cout<<"vertor size :"<<v.len()<<" references\n";
}
void testmap()
{
std::map<std::string, boost::shared_ptr<A> > m;
A *pA = new A();
A *pB = new A();
boost::shared_ptr<A> sp1(pA);
boost::shared_ptr<A> sp2(pB);
std::cout<<"The Smartptr now has "<<sp1.use_count()<<" references\n";
m["1"] = sp1;
std::cout<<"The Smartptr now has "<<sp1.use_count()<<" references\n";
// std::vector<boost::shared_ptr<A> > ::iterator k = v.begin();
//v.erase(k);//删除第一个元素
//v.pop_back();
//v[0] = sp2;
m["1"] = SMART_PTR_NULL_A;
std::cout<<"The Smartptr now has "<<sp1.use_count()<<" references\n";
// std::cout<<"vertor size :"<<v.len()<<" references\n";
m["1"] = sp1;
std::cout<<"The Smartptr now has "<<sp1.use_count()<<" references\n";
}
int main()
{
srand(std::time(0));
try
{
Span sp = Span(5);
sp.addNumber(5);
sp.addNumber(3);
sp.addNumber(17);
sp.addNumber(9);
sp.addNumber(11);
std::cout << sp.shortestSpan() << std::endl;
std::cout << sp.longestSpan() << std::endl;
Span big(10000);
big.initAll(randNumber);
std::cout << big.shortestSpan() << std::endl;
std::cout << big.longestSpan() << std::endl;
Span sp2(1);
std::cout << sp2.shortestSpan() << std::endl;
}
catch (std::exception & e)
{
std::cout << e.what() << std::endl;
}
}
void step(float dtime, bool send_recommended)
{
ScopeProfiler sp2(g_profiler, "step avg", SPT_AVG);
assert(m_env);
const float interval = 0.2;
if(m_move_interval.step(dtime, interval)==false)
return;
dtime = interval;
core::aabbox3d<f32> box(-BS/3.,0.0,-BS/3., BS/3.,BS*2./3.,BS/3.);
collisionMoveResult moveresult;
// Apply gravity
m_speed_f += v3f(0, -dtime*9.81*BS, 0);
// Maximum movement without glitches
f32 pos_max_d = BS*0.25;
// Limit speed
if(m_speed_f.getLength()*dtime > pos_max_d)
m_speed_f *= pos_max_d / (m_speed_f.getLength()*dtime);
v3f pos_f = getBasePosition();
v3f pos_f_old = pos_f;
v3f accel_f = v3f(0,0,0);
f32 stepheight = 0;
IGameDef *gamedef = m_env->getGameDef();
moveresult = collisionMoveSimple(&m_env->getMap(), gamedef,
pos_max_d, box, stepheight, dtime,
pos_f, m_speed_f, accel_f);
if(send_recommended == false)
return;
if(pos_f.getDistanceFrom(m_last_sent_position) > 0.05*BS)
{
setBasePosition(pos_f);
m_last_sent_position = pos_f;
std::ostringstream os(std::ios::binary);
// command (0 = update position)
writeU8(os, 0);
// pos
writeV3F1000(os, m_base_position);
// create message and add to list
ActiveObjectMessage aom(getId(), false, os.str());
m_messages_out.push_back(aom);
}
if(m_itemstring_changed)
{
m_itemstring_changed = false;
std::ostringstream os(std::ios::binary);
// command (1 = update itemstring)
writeU8(os, 1);
// itemstring
os<<serializeString(m_itemstring);
// create message and add to list
ActiveObjectMessage aom(getId(), false, os.str());
m_messages_out.push_back(aom);
}
}
/**
* \brief Render the players oxygen.
* \param e (out) The scene elements.
*/
void ptb::throwable_item_component::render( scene_element_list& e ) const
{
bear::visual::coordinate_type pos_y = height() / 2;
bear::visual::scene_sprite s1
( get_render_position().x,
( pos_y - m_throwable_item_animation.get_sprite().height() ) / 2 +
get_render_position().y,
m_throwable_item_animation.get_sprite());
bear::visual::scene_writing s2
( get_render_position().x +
m_throwable_item_animation.get_max_size().x + s_margin,
( pos_y - m_throwable_item.get_height() ) / 2 +
get_render_position().y , m_throwable_item );
e.push_back( s1 );
e.push_back( s2 );
floating_bonus_list::const_iterator it;
for ( it = m_floating_bonus.begin();
it != m_floating_bonus.end(); ++it )
{
bear::visual::scene_sprite sp2
( it->get_position().x, it->get_position().y,
get_level_globals().auto_sprite( "gfx/ui/ui-1.png", it->get_name() ));
e.push_back( sp2 );
}
} // throwable_item_component::render()
int main(int, const char * []) {
IloEnv env;
try {
IloIntVarArray x(env);
for (IloInt i = 0; i < 10; i++) {
char name[6];
sprintf(name, "X%ld", i);
x.add(IloIntVar(env, 0, 100 - 2*(i / 2), name));
}
IloModel mdl(env);
mdl.add(IloAllDiff(env, x));
mdl.add(x);
IloIntVarChooser varChooser = ChooseSmallestCentroid(env);
IloIntValueChooser valChooser = ChooseSmallestDistanceFromCentroid(env);
IloSearchPhase sp1(env, x, varChooser, valChooser);
IloIntVarEval varEval = Centroid(env);
IloIntValueEval valEval = DistanceFromCentroid(env);
IloSearchPhase sp2(env, x, IloSelectSmallest(varEval),
IloSelectSmallest(valEval));
// sp2 can have ties as two variable or values could evaluate
// to the same values. sp3 shows how to break these ties
// choosing, for equivalent centroid and distance-to-centroid
// evaluations, the lowest indexed variable in x and the
// lowest value.
IloVarSelectorArray selVar(env);
selVar.add(IloSelectSmallest(varEval));
selVar.add(IloSelectSmallest(IloVarIndex(env, x))); // break ties on index
IloValueSelectorArray selValue(env);
selValue.add(IloSelectSmallest(valEval));
selValue.add(IloSelectSmallest(IloValue(env))); // break ties on smallest
IloSearchPhase sp3(env, x, selVar, selValue);
IloCP cp(mdl);
cp.setParameter(IloCP::Workers, 1);
cp.setParameter(IloCP::SearchType, IloCP::DepthFirst);
cp.setParameter(IloCP::LogPeriod, 1);
cp.out() << "Choosers" << std::endl;
cp.solve(sp1);
cp.out() << cp.domain(x) << std::endl;
cp.out() << "Evaluators" << std::endl;
cp.solve(sp2);
cp.out() << cp.domain(x) << std::endl;
cp.out() << "Evaluators (with tie-break)" << std::endl;
cp.solve(sp3);
cp.out() << cp.domain(x) << std::endl;
cp.end();
} catch (IloException & ex) {
env.out() << "Caught: " << ex << std::endl;
}
env.end();
return 0;
}
static void BM_SharedPtrIncDecRef(benchmark::State& st) {
auto sp = std::make_shared<int>(42);
benchmark::DoNotOptimize(sp.get());
while (st.KeepRunning()) {
std::shared_ptr<int> sp2(sp);
benchmark::ClobberMemory();
}
}
/* main entry */
submain(int argc, char **argv)
{
int c;
/* get command line options */
while ((c = getopt(argc, argv, "?")) != EOF)
{
/* get options */
switch (c)
{
case '?':
/* help message */
usage(argv[0]);
return(0);
default:
/* error */
ERROR("invalid option.", EINVAL);
usage(argv[0]);
return(2);
}
}
/* check if spectra and output file were given */
if ((optind + 3) > argc)
{
ERROR("missing spectrum or output file.", EINVAL);
usage(argv[0]);
return(2);
}
/* create spectra */
Spectrum sp1(argv[optind]);
if ((errno = sp1.getStatus()) != OK)
{
ERRORS("spectrum constructor failed for spectrum.",
argv[optind], errno);
exit(2);
}
Spectrum sp2(argv[optind+1]);
if ((errno = sp2.getStatus()) != OK)
{
ERRORS("spectrum constructor failed for spectrum.",
argv[optind+1], errno);
exit(2);
}
/* do correlation */
Spectrum corrsp = correlation(sp1, sp2);
/* write out spectrum */
corrsp.writeSpectrum(argv[optind+2]);
/* all done */
return(0);
}
void ItemSAO::step(float dtime, bool send_recommended)
{
ScopeProfiler sp2(g_profiler, "ItemSAO::step avg", SPT_AVG);
assert(m_env);
const float interval = 0.2;
if(m_move_interval.step(dtime, interval)==false)
return;
dtime = interval;
core::aabbox3d<f32> box(-BS/3.,0.0,-BS/3., BS/3.,BS*2./3.,BS/3.);
collisionMoveResult moveresult;
// Apply gravity
m_speed_f += v3f(0, -dtime*9.81*BS, 0);
// Maximum movement without glitches
f32 pos_max_d = BS*0.25;
// Limit speed
if(m_speed_f.getLength()*dtime > pos_max_d)
m_speed_f *= pos_max_d / (m_speed_f.getLength()*dtime);
v3f pos_f = getBasePosition();
v3f pos_f_old = pos_f;
IGameDef *gamedef = m_env->getGameDef();
moveresult = collisionMoveSimple(&m_env->getMap(), gamedef,
pos_max_d, box, dtime, pos_f, m_speed_f);
if(send_recommended == false)
return;
if(pos_f.getDistanceFrom(m_last_sent_position) > 0.05*BS)
{
setBasePosition(pos_f);
m_last_sent_position = pos_f;
std::ostringstream os(std::ios::binary);
char buf[6];
// command (0 = update position)
buf[0] = 0;
os.write(buf, 1);
// pos
writeS32((u8*)buf, m_base_position.X*1000);
os.write(buf, 4);
writeS32((u8*)buf, m_base_position.Y*1000);
os.write(buf, 4);
writeS32((u8*)buf, m_base_position.Z*1000);
os.write(buf, 4);
// create message and add to list
ActiveObjectMessage aom(getId(), false, os.str());
m_messages_out.push_back(aom);
}
}
// Render radioitem bullet.
void ClsXPMenu::RenderRadioBullet( ClsDC *pDC, ClsRect& rcRect, COLORREF crColor, DWORD dwItemState )
{
// Snapshot...
int sDC = pDC->SaveDC();
// Make ellipse rectangle.
ClsRect rc = rcRect;
rc.Right() = rc.Left() + 12;
rc.Bottom() = rc.Top() + 12;
rc.Offset( rcRect.Width() / 2 - 6, rcRect.Height() / 2 - 6 );
// Create GDI objects for unchecked radio-button.
ClsPen p( PS_SOLID, 0, XPColors.GetXPColor( ClsXPColors::XPC_IMAGE_DISABLED ));
ClsBrush b( XPColors.GetXPColor( ClsXPColors::XPC_TEXT_BACKGROUND ));
// Brace the code so that the ClsSelector objects
// go out of scope before the device context
// is restored.
{
// Select brush and pen.
ClsSelector sb( pDC, b );
ClsSelector sp( pDC, p );
// Render first ellipse... This yields better
// results than the Ellipse() method...
pDC->RoundRect( rc.Left(), rc.Top(), rc.Right(), rc.Bottom(), 11, 11 );
// Deflate rectangle by three pixels.
rc.Deflate( 3, 3 );
// Checked?
if ( dwItemState & ODS_CHECKED )
{
// Destroy current GDI objects and create new
// ones for the inner ellipse.
b.Delete(); p.Delete();
b.CreateSolidBrush( crColor );
p.CreatePen( PS_SOLID, 1, crColor );
// Select them in the DC.
ClsSelector sb2( pDC, b );
ClsSelector sp2( pDC, p );
// Rendert the ellipse.
pDC->RoundRect( rc.Left(), rc.Top(), rc.Right(), rc.Bottom(), rc.Width() - 1, rc.Width() - 1 );
}
}
// Restore original content.
pDC->RestoreDC( sDC );
}
TEST(Test, Correction) {
StringPiece s1(g_s1, sizeof(g_s1) - 1);
StringPiece s2(g_s2, sizeof(g_s2) - 1);
StringPiece sp1(g_s1, sizeof(g_s1) - 1);
StringPiece sp2(g_s2, sizeof(g_s2) - 1);
EXPECT_EQ(s1 == s2, sp1 == sp2);
EXPECT_EQ(s1 != s2, sp1 != sp2);
EXPECT_EQ(s1 < s2, sp1 < sp2);
EXPECT_EQ(s1 <= s2, sp1 <= sp2);
EXPECT_EQ(s1 > s2, sp1 > sp2);
EXPECT_EQ(s1 >= s2, sp1 >= sp2);
}
void
OpenSteer::SharedPointerTest::testAssignment()
{
// Testing assignment of shared pointers pointing to 0.
{
SharedPointer< SharedPointerTester< 0 > > sp0;
SharedPointer< SharedPointerTester< 0 > > sp1( sp0 );
CPPUNIT_ASSERT( 0 == sp0.get() );
CPPUNIT_ASSERT( 0 == sp1.get() );
}
CPPUNIT_ASSERT_EQUAL( 0, SharedPointerTester< 0 >::static_counter_ );
// Testing assignment to a shared pointer holding 0.
{
SharedPointerTester< 0 >* rawPointer = new SharedPointerTester< 0 >();
SharedPointer< SharedPointerTester< 0 > > sp0;
SharedPointer< SharedPointerTester< 0 > > sp1( rawPointer );
SharedPointer< SharedPointerTester< 0 > > sp2( sp0 );
sp0 = sp1;
CPPUNIT_ASSERT( 2 == sp0.useCount() );
CPPUNIT_ASSERT( 2 == sp1.useCount() );
CPPUNIT_ASSERT_EQUAL( rawPointer, sp0.get() );
CPPUNIT_ASSERT_EQUAL( rawPointer, sp1.get() );
CPPUNIT_ASSERT( 0 == sp2.get() );
}
CPPUNIT_ASSERT_EQUAL( 0, SharedPointerTester< 0 >::static_counter_ );
// Testing assignment that should lead to a destruction.
{
SharedPointerTester< 0 >* rawPointer0 = new SharedPointerTester< 0 >();
SharedPointerTester< 0 >* rawPointer1 = new SharedPointerTester< 0 >();
CPPUNIT_ASSERT_EQUAL( 2, SharedPointerTester< 0 >::static_counter_ );
SharedPointer< SharedPointerTester< 0 > > sp0( rawPointer0 );
SharedPointer< SharedPointerTester< 0 > > sp1( rawPointer1 );
sp1 = sp0;
CPPUNIT_ASSERT_EQUAL( 1, SharedPointerTester< 0 >::static_counter_ );
CPPUNIT_ASSERT( 2 == sp0.useCount() );
CPPUNIT_ASSERT( 2 == sp1.useCount() );
CPPUNIT_ASSERT_EQUAL( rawPointer0, sp0.get() );
CPPUNIT_ASSERT_EQUAL( rawPointer0, sp1.get() );
}
CPPUNIT_ASSERT_EQUAL( 0, SharedPointerTester< 0 >::static_counter_ );
}
static
int main_v()
{
a_template<int> sp1 = new int;
a_template<B> sp2(new B);
//the presence of this call, has no influence on whether the template using int implements the method
sp2.optionalCompiledMethod();
//sp1.optionalCompiledMethod(); //this will give a compile error, because it forces the template to implement the method which uses a member function that int doesn't have
std::cout << "press enter to close" << std::endl;
std::cin.get();
return 0;
}
float calVelUpdateStepLen(const FwiParams ¶ms,
const float *wlt,
const float *dobs,
const float *derr,
float epsil,
const EnquistAbc2d &fmMethod,
const ShotPosition &allSrcPos,
const ShotPosition &allGeoPos
)
{
int nt = params.nt;
int nz = params.nz;
int nx = params.nx;
int ng = params.ng;
int ns = params.ns;
std::vector<float> dcal(ng, 0); /* calculated/synthetic seismic data */
std::vector<float> sp0(nz * nx); /* source wavefield p0 */
std::vector<float> sp1(nz * nx); /* source wavefield p1 */
std::vector<float> sp2(nz * nx); /* source wavefield p2 */
std::vector<float> alpha1(ng, 0); /* numerator of alpha, length=ng */
std::vector<float> alpha2(ng, 0); /* denominator of alpha, length=ng */
for (int is = 0; is < ns; is++) {
std::fill(sp0.begin(), sp0.end(), 0);
std::fill(sp1.begin(), sp1.end(), 0);
ShotPosition currSrcPos = allSrcPos.clip(is);
for (int it = 0; it < nt; it++) {
fmMethod.addSource(&sp1[0], &wlt[it], currSrcPos);
fmMethod.stepForward(&sp0[0], &sp1[0], &sp2[0]);
cycleSwap(sp0, sp1, sp2);
fmMethod.recordSeis(&dcal[0], &sp0[0], allGeoPos);
sum_alpha12(&alpha1[0], &alpha2[0], &dcal[0], &dobs[is * nt * ng + it * ng], &derr[is * ng * nt + it * ng], ng);
}
}
float alpha = cal_alpha(&alpha1[0], &alpha2[0], epsil, ng);
return alpha;
}
int main()
{
iset data;
spi sp0(new int(0));
spi sp1(new int(1));
spi sp2(new int(2));
spi sp3(sp1);
spi sp4(new int(1));
data.insert(sp0);
data.insert(sp1);
data.insert(sp2);
lookup(data, sp1);
lookup(data, sp3);
lookup(data, sp4);
return 0;
}
SetPartition CCPivot::Run(const SetPartitionVector& SPV)
{
srand((unsigned)time(NULL));
SetPartition sp(_Run(SPV));
int mindist = SPV.SumOfRandDistance(sp);
for (int i = 0; i < 49; ++i)
{
SetPartition sp2(_Run(SPV));
int d = SPV.SumOfRandDistance(sp2);
if (d < mindist)
{
mindist = d;
sp = sp2;
}
}
return sp;
}
void SharedPtr() {
struct Object {
Object() { std::cout << "(Object ctor) " << std::flush; }
~Object() { std::cout << "(Object dtor) " << std::flush; }
};
outHeader("shared_ptr");
outIdent();
std::cout << "(Creating Object) " << std::flush;
std::shared_ptr<Object> sp(new Object);
{
std::cout << "(1st Sharing Object ownership) " << std::flush;
std::shared_ptr<Object> sp2(sp);
{
std::cout << "(2nd Sharing Object ownership) " << std::flush;
std::shared_ptr<Object> sp3(sp);
}
}
std::cout << std::endl;
}
/* Method swap() : exchange the content of the shared pointers.
* not empty
* not empty
* is empty
*/
int main()
{
std::tr1::shared_ptr<std::string> sp1;
std::tr1::shared_ptr<std::string> sp2(new std::string("demo"));
PtrUtil::is_empty(sp1);
PtrUtil::is_empty(sp2);
sp1.swap(sp2);
PtrUtil::is_empty(sp1);
PtrUtil::is_empty(sp2);
return 0;
}
//-------------------------------------------------------------------------
void StartingPolynomialTest::TestAllMethods()
//-------------------------------------------------------------------------
{
/** scale operation*/
// StartingPolynomial<Degree> StartingPolynomial<Degree>::scale(const double& s) const
StartingPolynomial<1> sp1;
sp1.start = 50;
StartingPolynomial<1> s1 = sp1.scale(2);
CPPUNIT_ASSERT(s1.start == sp1.start*2);
/** shift operation*/
// StartingPolynomial<Degree> StartingPolynomial<Degree>::shift(const double& s) const
StartingPolynomial<1> sp2(sp1);
StartingPolynomial<1> s2 = sp2.shift(10);
CPPUNIT_ASSERT(s2.start == sp2.start+10);
}
void testcopy()
{
A *pA = new A();
A *pB = new A();
boost::shared_ptr<A> sp1(pA);
boost::shared_ptr<A> sp2(pB);
boost::shared_ptr<A> sp3;
std::cout<<"testcopy The Smartptr now has "<<sp1.use_count()<<" references\n";
sp3= sp1;
std::cout<<"testcopy The Smartptr now has "<<sp1.use_count()<<" references\n";
//sp3= sp2;
std::cout<<"testcopy The Smartptr now has "<<sp1.use_count()<<" references\n";
}
//Create a triangle that contains all other vertices
Triangle createSuperTriangle(const std::vector<Vector2>& vertices)
{
float M = vertices[0].mX;
//Get max X and Y
for (std::vector<Vector2>::const_iterator it = vertices.begin(); it != vertices.end(); ++it)
{
float xAbs = fabs(it->mX);
float yAbs = fabs(it->mY);
if (xAbs > M) M = xAbs;
if (yAbs > M) M = yAbs;
}
//Create super triangle
Vector2 sp1(10 * M, 0);
Vector2 sp2(0, 10 * M);
Vector2 sp3(-10 * M, -10 * M);
return Triangle(sp1, sp2, sp3);
}
/**
* \brief Render the players oxygen.
* \param e (out) The scene elements.
*/
void ptb::corrupting_bonus_component::render( scene_element_list& e ) const
{
if ( m_corrupting_bonus.empty() )
return;
bear::universe::position_type pos(get_render_position());
bear::visual::scene_sprite sp( 0, 0, m_corrupting_bonus.get_sprite() );
//sp.set_scale_factor(m_corrupting_bonus_scale, m_corrupting_bonus_scale);
sp.set_position
( pos.x + (m_corrupting_bonus.width() - sp.get_bounding_box().width()) / 2,
pos.y + (height() - sp.get_bounding_box().height()) / 2 );
e.push_back( sp );
pos.x += m_corrupting_bonus.width() + s_margin;
bear::visual::scene_writing s( 0, 0, m_text_corrupting_bonus );
//s.set_scale_factor(m_corrupting_bonus_scale, m_corrupting_bonus_scale);
s.set_position
( pos.x
+ ( m_text_corrupting_bonus.get_width()
- s.get_bounding_box().width() ) / 2,
pos.y + (height() - s.get_bounding_box().height()) / 2 );
e.push_back( s );
floating_corrupting_bonus_list::const_iterator it;
for ( it = m_floating_corrupting_bonus.begin();
it != m_floating_corrupting_bonus.end(); ++it )
{
bear::visual::scene_sprite sp2
( it->get_position().x, it->get_position().y,
m_corrupting_bonus.get_sprite() );
e.push_back( sp2 );
}
} // corrupting_bonus_component::render()
void testSharePtrFree()
{
SharedPtr<int,Free<int>> sp1((int *)malloc(sizeof(int)*10));
SharedPtr<int,Free<int>> sp2(sp1);
}
void testSharePtrDelete()
{
SharedPtr<int> sp1(new int(5));
SharedPtr<int> sp2(sp1);
}
void FireflySAO::step(float dtime, bool send_recommended)
{
ScopeProfiler sp2(g_profiler, "FireflySAO::step avg", SPT_AVG);
assert(m_env);
if(m_is_active == false)
{
if(m_inactive_interval.step(dtime, 0.5)==false)
return;
}
/*
The AI
*/
// Apply (less) gravity
m_speed_f.Y -= dtime*3*BS;
/*
Move around if some player is close
*/
bool player_is_close = false;
// Check connected players
core::list<Player*> players = m_env->getPlayers(true);
core::list<Player*>::Iterator i;
for(i = players.begin();
i != players.end(); i++)
{
Player *player = *i;
v3f playerpos = player->getPosition();
if(m_base_position.getDistanceFrom(playerpos) < BS*10.0)
{
player_is_close = true;
break;
}
}
m_is_active = player_is_close;
if(player_is_close == false)
{
m_speed_f.X = 0;
m_speed_f.Z = 0;
}
else
{
// Move around
v3f dir(cos(m_yaw/180*PI),0,sin(m_yaw/180*PI));
f32 speed = BS/2;
m_speed_f.X = speed * dir.X;
m_speed_f.Z = speed * dir.Z;
if(m_touching_ground && (m_oldpos - m_base_position).getLength()
< dtime*speed/2)
{
m_counter1 -= dtime;
if(m_counter1 < 0.0)
{
m_counter1 += 1.0;
m_speed_f.Y = 5.0*BS;
}
}
{
m_counter2 -= dtime;
if(m_counter2 < 0.0)
{
m_counter2 += (float)(myrand()%100)/100*3.0;
m_yaw += ((float)(myrand()%200)-100)/100*180;
m_yaw = wrapDegrees(m_yaw);
}
}
}
m_oldpos = m_base_position;
/*
Move it, with collision detection
*/
core::aabbox3d<f32> box(-BS/3.,-BS*2/3.0,-BS/3., BS/3.,BS*4./3.,BS/3.);
collisionMoveResult moveresult;
// Maximum movement without glitches
f32 pos_max_d = BS*0.25;
// Limit speed
if(m_speed_f.getLength()*dtime > pos_max_d)
m_speed_f *= pos_max_d / (m_speed_f.getLength()*dtime);
v3f pos_f = getBasePosition();
v3f pos_f_old = pos_f;
IGameDef *gamedef = m_env->getGameDef();
moveresult = collisionMoveSimple(&m_env->getMap(), gamedef,
pos_max_d, box, dtime, pos_f, m_speed_f);
m_touching_ground = moveresult.touching_ground;
setBasePosition(pos_f);
if(send_recommended == false)
return;
if(pos_f.getDistanceFrom(m_last_sent_position) > 0.05*BS)
{
m_last_sent_position = pos_f;
std::ostringstream os(std::ios::binary);
// command (0 = update position)
writeU8(os, 0);
// pos
writeV3F1000(os, m_base_position);
// yaw
writeF1000(os, m_yaw);
// create message and add to list
ActiveObjectMessage aom(getId(), false, os.str());
m_messages_out.push_back(aom);
}
}
void Oerkki1SAO::step(float dtime, bool send_recommended)
{
ScopeProfiler sp2(g_profiler, "Oerkki1SAO::step avg", SPT_AVG);
assert(m_env);
if(m_is_active == false)
{
if(m_inactive_interval.step(dtime, 0.5)==false)
return;
}
/*
The AI
*/
m_age += dtime;
if(m_age > 120)
{
// Die
m_removed = true;
return;
}
m_after_jump_timer -= dtime;
v3f old_speed = m_speed_f;
// Apply gravity
m_speed_f.Y -= dtime*9.81*BS;
/*
Move around if some player is close
*/
bool player_is_close = false;
bool player_is_too_close = false;
v3f near_player_pos;
// Check connected players
core::list<Player*> players = m_env->getPlayers(true);
core::list<Player*>::Iterator i;
for(i = players.begin();
i != players.end(); i++)
{
Player *player = *i;
v3f playerpos = player->getPosition();
f32 dist = m_base_position.getDistanceFrom(playerpos);
if(dist < BS*0.6)
{
m_removed = true;
return;
player_is_too_close = true;
near_player_pos = playerpos;
}
else if(dist < BS*15.0 && !player_is_too_close)
{
player_is_close = true;
near_player_pos = playerpos;
}
}
m_is_active = player_is_close;
v3f target_speed = m_speed_f;
if(!player_is_close)
{
target_speed = v3f(0,0,0);
}
else
{
// Move around
v3f ndir = near_player_pos - m_base_position;
ndir.Y = 0;
ndir.normalize();
f32 nyaw = 180./PI*atan2(ndir.Z,ndir.X);
if(nyaw < m_yaw - 180)
nyaw += 360;
else if(nyaw > m_yaw + 180)
nyaw -= 360;
m_yaw = 0.95*m_yaw + 0.05*nyaw;
m_yaw = wrapDegrees(m_yaw);
f32 speed = 2*BS;
if((m_touching_ground || m_after_jump_timer > 0.0)
&& !player_is_too_close)
{
v3f dir(cos(m_yaw/180*PI),0,sin(m_yaw/180*PI));
target_speed.X = speed * dir.X;
target_speed.Z = speed * dir.Z;
}
if(m_touching_ground && (m_oldpos - m_base_position).getLength()
< dtime*speed/2)
{
m_counter1 -= dtime;
if(m_counter1 < 0.0)
{
m_counter1 += 0.2;
// Jump
target_speed.Y = 5.0*BS;
m_after_jump_timer = 1.0;
}
}
{
m_counter2 -= dtime;
if(m_counter2 < 0.0)
{
m_counter2 += (float)(myrand()%100)/100*3.0;
//m_yaw += ((float)(myrand()%200)-100)/100*180;
m_yaw += ((float)(myrand()%200)-100)/100*90;
m_yaw = wrapDegrees(m_yaw);
}
}
}
if((m_speed_f - target_speed).getLength() > BS*4 || player_is_too_close)
accelerate_xz(m_speed_f, target_speed, dtime*BS*8);
else
accelerate_xz(m_speed_f, target_speed, dtime*BS*4);
m_oldpos = m_base_position;
/*
Move it, with collision detection
*/
core::aabbox3d<f32> box(-BS/3.,0.0,-BS/3., BS/3.,BS*5./3.,BS/3.);
collisionMoveResult moveresult;
// Maximum movement without glitches
f32 pos_max_d = BS*0.25;
/*// Limit speed
if(m_speed_f.getLength()*dtime > pos_max_d)
m_speed_f *= pos_max_d / (m_speed_f.getLength()*dtime);*/
v3f pos_f = getBasePosition();
v3f pos_f_old = pos_f;
IGameDef *gamedef = m_env->getGameDef();
moveresult = collisionMovePrecise(&m_env->getMap(), gamedef,
pos_max_d, box, dtime, pos_f, m_speed_f);
m_touching_ground = moveresult.touching_ground;
// Do collision damage
float tolerance = BS*30;
float factor = BS*0.5;
v3f speed_diff = old_speed - m_speed_f;
// Increase effect in X and Z
speed_diff.X *= 2;
speed_diff.Z *= 2;
float vel = speed_diff.getLength();
if(vel > tolerance)
{
f32 damage_f = (vel - tolerance)/BS*factor;
u16 damage = (u16)(damage_f+0.5);
doDamage(damage);
}
setBasePosition(pos_f);
if(send_recommended == false && m_speed_f.getLength() < 3.0*BS)
return;
if(pos_f.getDistanceFrom(m_last_sent_position) > 0.05*BS)
{
m_last_sent_position = pos_f;
std::ostringstream os(std::ios::binary);
// command (0 = update position)
writeU8(os, 0);
// pos
writeV3F1000(os, m_base_position);
// yaw
writeF1000(os, m_yaw);
// create message and add to list
ActiveObjectMessage aom(getId(), false, os.str());
m_messages_out.push_back(aom);
}
}
void MobV2SAO::step(float dtime, bool send_recommended)
{
ScopeProfiler sp2(g_profiler, "MobV2SAO::step avg", SPT_AVG);
assert(m_env);
Map *map = &m_env->getMap();
m_age += dtime;
if(m_die_age >= 0.0 && m_age >= m_die_age){
m_removed = true;
return;
}
m_random_disturb_timer += dtime;
if(m_random_disturb_timer >= 5.0)
{
m_random_disturb_timer = 0;
// Check connected players
core::list<Player*> players = m_env->getPlayers(true);
core::list<Player*>::Iterator i;
for(i = players.begin();
i != players.end(); i++)
{
Player *player = *i;
v3f playerpos = player->getPosition();
f32 dist = m_base_position.getDistanceFrom(playerpos);
if(dist < BS*16)
{
if(myrand_range(0,3) == 0){
actionstream<<"Mob id="<<m_id<<" at "
<<PP(m_base_position/BS)
<<" got randomly disturbed by "
<<player->getName()<<std::endl;
m_disturbing_player = player->getName();
m_disturb_timer = 0;
break;
}
}
}
}
Player *disturbing_player =
m_env->getPlayer(m_disturbing_player.c_str());
v3f disturbing_player_off = v3f(0,1,0);
v3f disturbing_player_norm = v3f(0,1,0);
float disturbing_player_distance = 1000000;
float disturbing_player_dir = 0;
if(disturbing_player){
disturbing_player_off =
disturbing_player->getPosition() - m_base_position;
disturbing_player_distance = disturbing_player_off.getLength();
disturbing_player_norm = disturbing_player_off;
disturbing_player_norm.normalize();
disturbing_player_dir = 180./PI*atan2(disturbing_player_norm.Z,
disturbing_player_norm.X);
}
m_disturb_timer += dtime;
if(!m_falling)
{
m_shooting_timer -= dtime;
if(m_shooting_timer <= 0.0 && m_shooting){
m_shooting = false;
std::string shoot_type = m_properties->get("shoot_type");
v3f shoot_pos(0,0,0);
shoot_pos.Y += m_properties->getFloat("shoot_y") * BS;
if(shoot_type == "fireball"){
v3f dir(cos(m_yaw/180*PI),0,sin(m_yaw/180*PI));
dir.Y = m_shoot_y;
dir.normalize();
v3f speed = dir * BS * 10.0;
v3f pos = m_base_position + shoot_pos;
infostream<<__FUNCTION_NAME<<": Mob id="<<m_id
<<" shooting fireball from "<<PP(pos)
<<" at speed "<<PP(speed)<<std::endl;
Settings properties;
properties.set("looks", "fireball");
properties.setV3F("speed", speed);
properties.setFloat("die_age", 5.0);
properties.set("move_type", "constant_speed");
properties.setFloat("hp", 1000);
properties.set("lock_full_brightness", "true");
properties.set("player_hit_damage", "9");
properties.set("player_hit_distance", "2");
properties.set("player_hit_interval", "1");
ServerActiveObject *obj = new MobV2SAO(m_env,
pos, &properties);
//m_env->addActiveObjectAsStatic(obj);
m_env->addActiveObject(obj);
} else {
infostream<<__FUNCTION_NAME<<": Mob id="<<m_id
<<": Unknown shoot_type="<<shoot_type
<<std::endl;
}
}
m_shoot_reload_timer += dtime;
float reload_time = 15.0;
if(m_disturb_timer <= 15.0)
reload_time = 3.0;
bool shoot_without_player = false;
if(m_properties->getBool("mindless_rage"))
shoot_without_player = true;
if(!m_shooting && m_shoot_reload_timer >= reload_time &&
!m_next_pos_exists &&
(m_disturb_timer <= 60.0 || shoot_without_player))
{
m_shoot_y = 0;
if(m_disturb_timer < 60.0 && disturbing_player &&
disturbing_player_distance < 16*BS &&
fabs(disturbing_player_norm.Y) < 0.8){
m_yaw = disturbing_player_dir;
sendPosition();
m_shoot_y += disturbing_player_norm.Y;
} else {
m_shoot_y = 0.01 * myrand_range(-30,10);
}
m_shoot_reload_timer = 0.0;
m_shooting = true;
m_shooting_timer = 1.5;
{
std::ostringstream os(std::ios::binary);
// command (2 = shooting)
writeU8(os, 2);
// time
writeF1000(os, m_shooting_timer + 0.1);
// bright?
writeU8(os, true);
// create message and add to list
ActiveObjectMessage aom(getId(), false, os.str());
m_messages_out.push_back(aom);
}
}
}
if(m_move_type == "ground_nodes")
{
if(!m_shooting){
m_walk_around_timer -= dtime;
if(m_walk_around_timer <= 0.0){
m_walk_around = !m_walk_around;
if(m_walk_around)
m_walk_around_timer = 0.1*myrand_range(10,50);
else
m_walk_around_timer = 0.1*myrand_range(30,70);
}
}
/* Move */
if(m_next_pos_exists){
v3f pos_f = m_base_position;
v3f next_pos_f = intToFloat(m_next_pos_i, BS);
v3f v = next_pos_f - pos_f;
m_yaw = atan2(v.Z, v.X) / PI * 180;
v3f diff = next_pos_f - pos_f;
v3f dir = diff;
dir.normalize();
float speed = BS * 0.5;
if(m_falling)
speed = BS * 3.0;
dir *= dtime * speed;
bool arrived = false;
if(dir.getLength() > diff.getLength()){
dir = diff;
arrived = true;
}
pos_f += dir;
m_base_position = pos_f;
if((pos_f - next_pos_f).getLength() < 0.1 || arrived){
m_next_pos_exists = false;
}
}
v3s16 pos_i = floatToInt(m_base_position, BS);
v3s16 size_blocks = v3s16(m_size.X+0.5,m_size.Y+0.5,m_size.X+0.5);
v3s16 pos_size_off(0,0,0);
if(m_size.X >= 2.5){
pos_size_off.X = -1;
pos_size_off.Y = -1;
}
if(!m_next_pos_exists){
/* Check whether to drop down */
if(checkFreePosition(map,
pos_i + pos_size_off + v3s16(0,-1,0), size_blocks)){
m_next_pos_i = pos_i + v3s16(0,-1,0);
m_next_pos_exists = true;
m_falling = true;
} else {
m_falling = false;
}
}
if(m_walk_around)
{
if(!m_next_pos_exists){
/* Find some position where to go next */
v3s16 dps[3*3*3];
int num_dps = 0;
for(int dx=-1; dx<=1; dx++)
for(int dy=-1; dy<=1; dy++)
for(int dz=-1; dz<=1; dz++){
if(dx == 0 && dy == 0)
continue;
if(dx != 0 && dz != 0 && dy != 0)
continue;
dps[num_dps++] = v3s16(dx,dy,dz);
}
u32 order[3*3*3];
get_random_u32_array(order, num_dps);
for(int i=0; i<num_dps; i++){
v3s16 p = dps[order[i]] + pos_i;
bool is_free = checkFreeAndWalkablePosition(map,
p + pos_size_off, size_blocks);
if(!is_free)
continue;
m_next_pos_i = p;
m_next_pos_exists = true;
break;
}
}
}
}
else if(m_move_type == "constant_speed")
{
m_base_position += m_speed * dtime;
v3s16 pos_i = floatToInt(m_base_position, BS);
v3s16 size_blocks = v3s16(m_size.X+0.5,m_size.Y+0.5,m_size.X+0.5);
v3s16 pos_size_off(0,0,0);
if(m_size.X >= 2.5){
pos_size_off.X = -1;
pos_size_off.Y = -1;
}
bool free = checkFreePosition(map, pos_i + pos_size_off, size_blocks);
if(!free){
explodeSquare(map, pos_i, v3s16(3,3,3));
m_removed = true;
return;
}
}
else
{
errorstream<<"MobV2SAO::step(): id="<<m_id<<" unknown move_type=\""
<<m_move_type<<"\""<<std::endl;
}
if(send_recommended == false)
return;
if(m_base_position.getDistanceFrom(m_last_sent_position) > 0.05*BS)
{
sendPosition();
}
}
int main(int argc, char **argv)
{
// Traits typedefs
// {{{
// typedef ::World< ::CyclicWorldTraits<Real> > world_type;
// typedef EGFRDSimulator< ::EGFRDSimulatorTraitsBase<world_type> >
// simulator_type;
typedef ecell4::egfrd::EGFRDWorld world_type;
typedef ecell4::egfrd::EGFRDSimulator simulator_type;
typedef simulator_type::multi_type multi_type;
// }}}
// Constants
// {{{
const ecell4::Real L(1e-6);
const ecell4::Real3 edge_lengths(L, L, L);
const ecell4::Integer3 matrix_sizes(3, 3, 3);
const ecell4::Real volume(L * L * L);
const ecell4::Integer N(60);
const ecell4::Real kd(0.1), U(0.5);
const ecell4::Real ka(kd * volume * (1 - U) / (U * U * N));
const ecell4::Real k2(ka), k1(kd);
const ecell4::Integer dissociation_retry_moves(3);
// }}}
boost::shared_ptr<ecell4::NetworkModel>
model(new ecell4::NetworkModel());
// add ::SpeciesType to ::ParticleModel
// {{{
ecell4::Species sp1(
std::string("A"), std::string("2.5e-09"), std::string("1e-12"));
model->add_species_attribute(sp1);
ecell4::Species sp2(
std::string("B"), std::string("2.5e-09"), std::string("1e-12"));
model->add_species_attribute(sp2);
ecell4::Species sp3(
std::string("C"), std::string("2.5e-09"), std::string("1e-12"));
model->add_species_attribute(sp3);
// }}}
// ReactionRules
// {{{
// A -> B + C k1
// {{{
ecell4::ReactionRule rr1(
ecell4::create_unbinding_reaction_rule(sp1, sp2, sp3, k1));
model->add_reaction_rule(rr1);
// }}}
// B + C -> A k2
// {{{
ecell4::ReactionRule rr2(
ecell4::create_binding_reaction_rule(sp2, sp3, sp1, k2));
model->add_reaction_rule(rr2);
// }}}
// }}}
// Random Number Generator (Instanciate and Initialize)
// {{{
// boost::shared_ptr<ecell4::GSLRandomNumberGenerator>
boost::shared_ptr<ecell4::RandomNumberGenerator>
rng(new ecell4::GSLRandomNumberGenerator());
rng->seed((unsigned long int)0);
// rng->seed(time(NULL));
// }}}
// World Definition
// {{{
boost::shared_ptr<world_type>
world(new world_type(edge_lengths, matrix_sizes, rng));
world->bind_to(model);
// }}}
// add ecell4::Species( ::SpeciesInfo) to ::World
// {{{
// world->add_species(ecell4::Species("A"));
// world->add_species(ecell4::Species("B"));
// world->add_species(ecell4::Species("C"));
// }}}
// Thorow particles into world at random
// {{{
world->add_molecules(ecell4::Species("A"), N);
typedef std::vector<std::pair<ecell4::ParticleID, ecell4::Particle> >
particle_id_pair_list;
const particle_id_pair_list particles(world->list_particles());
for (particle_id_pair_list::const_iterator i(particles.begin());
i != particles.end(); ++i)
{
const ecell4::Real3 pos((*i).second.position());
std::cout << "(" << pos[0] << pos[1] << pos[2] << ")" << std::endl;
}
// }}}
// Logger Settings
// {{{
boost::shared_ptr< ::LoggerManager> logger_mng(
new ::LoggerManager("dummy", ::Logger::L_WARNING));
::LoggerManager::register_logger_manager(
"ecell.EGFRDSimulator", logger_mng);
// }}}
// EGFRDSimulator instance generated
// {{{
boost::shared_ptr<simulator_type> sim(
new simulator_type(world, model, dissociation_retry_moves));
// sim->paranoiac() = true;
sim->initialize();
// }}}
// Simulation Executed
// {{{
ecell4::Real next_time(0.0), dt(0.02);
std::cout << sim->t() << "\t"
<< world->num_molecules_exact(sp1) << "\t"
<< world->num_molecules_exact(sp2) << "\t"
<< world->num_molecules_exact(sp3) << "\t" << std::endl;
// for (int i(0); i < 10; i++)
// for (int i(0); i < 100; i++)
for (int i(0); i < 100; i++)
{
next_time += dt;
while (sim->step(next_time))
{
// if (sim->last_reactions().size() > 0)
// {
// std::cout << sim->t() << "\t"
// << world->num_molecules_exact(sp1) << "\t"
// << world->num_molecules_exact(sp2) << "\t"
// << world->num_molecules_exact(sp3) << "\t" << std::endl;
// }
}
std::cout << sim->t() << "\t"
<< world->num_molecules_exact(sp1) << "\t"
<< world->num_molecules_exact(sp2) << "\t"
<< world->num_molecules_exact(sp3) << "\t" << std::endl;
}
// }}}
// world->save("test.h5");
// Statistics
// {{{
int num_single_steps_per_type[simulator_type::NUM_SINGLE_EVENT_KINDS];
num_single_steps_per_type[simulator_type::SINGLE_EVENT_REACTION]
= sim->num_single_steps_per_type(simulator_type::SINGLE_EVENT_REACTION);
num_single_steps_per_type[simulator_type::SINGLE_EVENT_ESCAPE]
= sim->num_single_steps_per_type(simulator_type::SINGLE_EVENT_ESCAPE);
std::cout << (boost::format("%1%: %2% \n")
% "SINGLE_EVENT_REACTION"
% num_single_steps_per_type[simulator_type::SINGLE_EVENT_REACTION]);
std::cout << (boost::format("%1%: %2% \n")
% "SINGLE_EVENT_ESCAPE"
% num_single_steps_per_type[simulator_type::SINGLE_EVENT_ESCAPE]);
std::cout << (boost::format("%1%: %2% \n")
% "PAIR_EVENT_SINGLE_REACTION_0"
% sim->num_pair_steps_per_type(
simulator_type::PAIR_EVENT_SINGLE_REACTION_0));
std::cout << (boost::format("%1%: %2% \n")
% "PAIR_EVENT_SINGLE_REACTION_1"
% sim->num_pair_steps_per_type(
simulator_type::PAIR_EVENT_SINGLE_REACTION_1));
std::cout << (boost::format("%1%: %2% \n")
% "PAIR_EVENT_COM_ESCAPE"
% sim->num_pair_steps_per_type(simulator_type::PAIR_EVENT_COM_ESCAPE));
std::cout << (boost::format("%1%: %2% \n")
% "PAIR_EVENT_IV_UNDETERMINED"
% sim->num_pair_steps_per_type(
simulator_type::PAIR_EVENT_IV_UNDETERMINED));
std::cout << (boost::format("%1%: %2% \n")
% "PAIR_EVENT_IV_ESCAPE"
% sim->num_pair_steps_per_type(simulator_type::PAIR_EVENT_IV_ESCAPE));
std::cout << (boost::format("%1%: %2% \n")
% "PAIR_EVENT_IV_REACTION"
% sim->num_pair_steps_per_type(simulator_type::PAIR_EVENT_IV_REACTION));
std::cout << (boost::format("%1%: %2% \n")
% "NONE" % sim->num_multi_steps_per_type(multi_type::NONE));
std::cout << (boost::format("%1%: %2% \n")
% "ESCAPE" % sim->num_multi_steps_per_type(multi_type::ESCAPE));
std::cout << (boost::format("%1%: %2% \n")
% "REACTION" % sim->num_multi_steps_per_type(multi_type::REACTION));
// }}}
// {
// boost::scoped_ptr<world_type>
// world2(new world_type(ecell4::Real3(1, 2, 3), ecell4::Integer3(3, 6, 9)));
// std::cout << "edge_lengths:" << world2->edge_lengths()[0] << " " << world2->edge_lengths()[1] << " " << world2->edge_lengths()[2] << std::endl;
// std::cout << "matrix_sizes:" << world2->matrix_sizes()[0] << " " << world2->matrix_sizes()[1] << " " << world2->matrix_sizes()[2] << std::endl;
// std::cout << "num_particles: " << world2->num_particles() << std::endl;
// world2->load("test.h5");
// std::cout << "edge_lengths:" << world2->edge_lengths()[0] << " " << world2->edge_lengths()[1] << " " << world2->edge_lengths()[2] << std::endl;
// std::cout << "matrix_sizes:" << world2->matrix_sizes()[0] << " " << world2->matrix_sizes()[1] << " " << world2->matrix_sizes()[2] << std::endl;
// std::cout << "num_particles: " << world2->num_particles() << std::endl;
// }
return 0;
}
collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
f32 pos_max_d, const aabb3f &box_0,
f32 stepheight, f32 dtime,
v3f *pos_f, v3f *speed_f,
v3f accel_f, ActiveObject *self,
bool collideWithObjects)
{
static bool time_notification_done = false;
Map *map = &env->getMap();
//TimeTaker tt("collisionMoveSimple");
ScopeProfiler sp(g_profiler, "collisionMoveSimple avg", SPT_AVG);
collisionMoveResult result;
/*
Calculate new velocity
*/
if (dtime > 0.5f) {
if (!time_notification_done) {
time_notification_done = true;
infostream << "collisionMoveSimple: maximum step interval exceeded,"
" lost movement details!"<<std::endl;
}
dtime = 0.5f;
} else {
time_notification_done = false;
}
*speed_f += accel_f * dtime;
// If there is no speed, there are no collisions
if (speed_f->getLength() == 0)
return result;
// Limit speed for avoiding hangs
speed_f->Y = rangelim(speed_f->Y, -5000, 5000);
speed_f->X = rangelim(speed_f->X, -5000, 5000);
speed_f->Z = rangelim(speed_f->Z, -5000, 5000);
/*
Collect node boxes in movement range
*/
std::vector<NearbyCollisionInfo> cinfo;
{
//TimeTaker tt2("collisionMoveSimple collect boxes");
ScopeProfiler sp2(g_profiler, "collisionMoveSimple collect boxes avg", SPT_AVG);
v3f newpos_f = *pos_f + *speed_f * dtime;
v3f minpos_f(
MYMIN(pos_f->X, newpos_f.X),
MYMIN(pos_f->Y, newpos_f.Y) + 0.01f * BS, // bias rounding, player often at +/-n.5
MYMIN(pos_f->Z, newpos_f.Z)
);
v3f maxpos_f(
MYMAX(pos_f->X, newpos_f.X),
MYMAX(pos_f->Y, newpos_f.Y),
MYMAX(pos_f->Z, newpos_f.Z)
);
v3s16 min = floatToInt(minpos_f + box_0.MinEdge, BS) - v3s16(1, 1, 1);
v3s16 max = floatToInt(maxpos_f + box_0.MaxEdge, BS) + v3s16(1, 1, 1);
bool any_position_valid = false;
v3s16 p;
for (p.X = min.X; p.X <= max.X; p.X++)
for (p.Y = min.Y; p.Y <= max.Y; p.Y++)
for (p.Z = min.Z; p.Z <= max.Z; p.Z++) {
bool is_position_valid;
MapNode n = map->getNodeNoEx(p, &is_position_valid);
if (is_position_valid && n.getContent() != CONTENT_IGNORE) {
// Object collides into walkable nodes
any_position_valid = true;
const NodeDefManager *nodedef = gamedef->getNodeDefManager();
const ContentFeatures &f = nodedef->get(n);
if (!f.walkable)
continue;
int n_bouncy_value = itemgroup_get(f.groups, "bouncy");
int neighbors = 0;
if (f.drawtype == NDT_NODEBOX &&
f.node_box.type == NODEBOX_CONNECTED) {
v3s16 p2 = p;
p2.Y++;
getNeighborConnectingFace(p2, nodedef, map, n, 1, &neighbors);
p2 = p;
p2.Y--;
getNeighborConnectingFace(p2, nodedef, map, n, 2, &neighbors);
p2 = p;
p2.Z--;
getNeighborConnectingFace(p2, nodedef, map, n, 4, &neighbors);
p2 = p;
p2.X--;
getNeighborConnectingFace(p2, nodedef, map, n, 8, &neighbors);
p2 = p;
p2.Z++;
getNeighborConnectingFace(p2, nodedef, map, n, 16, &neighbors);
p2 = p;
p2.X++;
getNeighborConnectingFace(p2, nodedef, map, n, 32, &neighbors);
}
std::vector<aabb3f> nodeboxes;
n.getCollisionBoxes(gamedef->ndef(), &nodeboxes, neighbors);
// Calculate float position only once
v3f posf = intToFloat(p, BS);
for (auto box : nodeboxes) {
box.MinEdge += posf;
box.MaxEdge += posf;
cinfo.emplace_back(false, false, n_bouncy_value, p, box);
}
} else {
// Collide with unloaded nodes (position invalid) and loaded
// CONTENT_IGNORE nodes (position valid)
aabb3f box = getNodeBox(p, BS);
cinfo.emplace_back(true, false, 0, p, box);
}
}
// Do not move if world has not loaded yet, since custom node boxes
// are not available for collision detection.
// This also intentionally occurs in the case of the object being positioned
// solely on loaded CONTENT_IGNORE nodes, no matter where they come from.
if (!any_position_valid) {
*speed_f = v3f(0, 0, 0);
return result;
}
} // tt2
if(collideWithObjects)
{
ScopeProfiler sp2(g_profiler, "collisionMoveSimple objects avg", SPT_AVG);
//TimeTaker tt3("collisionMoveSimple collect object boxes");
/* add object boxes to cinfo */
std::vector<ActiveObject*> objects;
#ifndef SERVER
ClientEnvironment *c_env = dynamic_cast<ClientEnvironment*>(env);
if (c_env != 0) {
f32 distance = speed_f->getLength();
std::vector<DistanceSortedActiveObject> clientobjects;
c_env->getActiveObjects(*pos_f, distance * 1.5f, clientobjects);
for (auto &clientobject : clientobjects) {
if (!self || (self != clientobject.obj)) {
objects.push_back((ActiveObject*) clientobject.obj);
}
}
}
else
#endif
{
ServerEnvironment *s_env = dynamic_cast<ServerEnvironment*>(env);
if (s_env != NULL) {
f32 distance = speed_f->getLength();
std::vector<u16> s_objects;
s_env->getObjectsInsideRadius(s_objects, *pos_f, distance * 1.5f);
for (u16 obj_id : s_objects) {
ServerActiveObject *current = s_env->getActiveObject(obj_id);
if (!self || (self != current)) {
objects.push_back((ActiveObject*)current);
}
}
}
}
for (std::vector<ActiveObject*>::const_iterator iter = objects.begin();
iter != objects.end(); ++iter) {
ActiveObject *object = *iter;
if (object) {
aabb3f object_collisionbox;
if (object->getCollisionBox(&object_collisionbox) &&
object->collideWithObjects()) {
cinfo.emplace_back(false, true, 0, v3s16(), object_collisionbox);
}
}
}
} //tt3
/*
Collision detection
*/
/*
Collision uncertainty radius
Make it a bit larger than the maximum distance of movement
*/
f32 d = pos_max_d * 1.1f;
// A fairly large value in here makes moving smoother
//f32 d = 0.15*BS;
// This should always apply, otherwise there are glitches
assert(d > pos_max_d); // invariant
int loopcount = 0;
while(dtime > BS * 1e-10f) {
//TimeTaker tt3("collisionMoveSimple dtime loop");
ScopeProfiler sp2(g_profiler, "collisionMoveSimple dtime loop avg", SPT_AVG);
// Avoid infinite loop
loopcount++;
if (loopcount >= 100) {
warningstream << "collisionMoveSimple: Loop count exceeded, aborting to avoid infiniite loop" << std::endl;
break;
}
aabb3f movingbox = box_0;
movingbox.MinEdge += *pos_f;
movingbox.MaxEdge += *pos_f;
int nearest_collided = -1;
f32 nearest_dtime = dtime;
int nearest_boxindex = -1;
/*
Go through every nodebox, find nearest collision
*/
for (u32 boxindex = 0; boxindex < cinfo.size(); boxindex++) {
const NearbyCollisionInfo &box_info = cinfo[boxindex];
// Ignore if already stepped up this nodebox.
if (box_info.is_step_up)
continue;
// Find nearest collision of the two boxes (raytracing-like)
f32 dtime_tmp;
int collided = axisAlignedCollision(box_info.box,
movingbox, *speed_f, d, &dtime_tmp);
if (collided == -1 || dtime_tmp >= nearest_dtime)
continue;
nearest_dtime = dtime_tmp;
nearest_collided = collided;
nearest_boxindex = boxindex;
}
if (nearest_collided == -1) {
// No collision with any collision box.
*pos_f += *speed_f * dtime;
dtime = 0; // Set to 0 to avoid "infinite" loop due to small FP numbers
} else {
// Otherwise, a collision occurred.
NearbyCollisionInfo &nearest_info = cinfo[nearest_boxindex];
const aabb3f& cbox = nearest_info.box;
// Check for stairs.
bool step_up = (nearest_collided != 1) && // must not be Y direction
(movingbox.MinEdge.Y < cbox.MaxEdge.Y) &&
(movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) &&
(!wouldCollideWithCeiling(cinfo, movingbox,
cbox.MaxEdge.Y - movingbox.MinEdge.Y,
d));
// Get bounce multiplier
float bounce = -(float)nearest_info.bouncy / 100.0f;
// Move to the point of collision and reduce dtime by nearest_dtime
if (nearest_dtime < 0) {
// Handle negative nearest_dtime (can be caused by the d allowance)
if (!step_up) {
if (nearest_collided == 0)
pos_f->X += speed_f->X * nearest_dtime;
if (nearest_collided == 1)
pos_f->Y += speed_f->Y * nearest_dtime;
if (nearest_collided == 2)
pos_f->Z += speed_f->Z * nearest_dtime;
}
} else {
*pos_f += *speed_f * nearest_dtime;
dtime -= nearest_dtime;
}
bool is_collision = true;
if (nearest_info.is_unloaded)
is_collision = false;
CollisionInfo info;
if (nearest_info.is_object)
info.type = COLLISION_OBJECT;
else
info.type = COLLISION_NODE;
info.node_p = nearest_info.position;
info.old_speed = *speed_f;
// Set the speed component that caused the collision to zero
if (step_up) {
// Special case: Handle stairs
nearest_info.is_step_up = true;
is_collision = false;
} else if (nearest_collided == 0) { // X
if (fabs(speed_f->X) > BS * 3)
speed_f->X *= bounce;
else
speed_f->X = 0;
result.collides = true;
} else if (nearest_collided == 1) { // Y
if(fabs(speed_f->Y) > BS * 3)
speed_f->Y *= bounce;
else
speed_f->Y = 0;
result.collides = true;
} else if (nearest_collided == 2) { // Z
if (fabs(speed_f->Z) > BS * 3)
speed_f->Z *= bounce;
else
speed_f->Z = 0;
result.collides = true;
}
info.new_speed = *speed_f;
if (info.new_speed.getDistanceFrom(info.old_speed) < 0.1f * BS)
is_collision = false;
if (is_collision) {
result.collisions.push_back(info);
}
}
}
/*
Final touches: Check if standing on ground, step up stairs.
*/
aabb3f box = box_0;
box.MinEdge += *pos_f;
box.MaxEdge += *pos_f;
for (const auto &box_info : cinfo) {
const aabb3f &cbox = box_info.box;
/*
See if the object is touching ground.
Object touches ground if object's minimum Y is near node's
maximum Y and object's X-Z-area overlaps with the node's
X-Z-area.
Use 0.15*BS so that it is easier to get on a node.
*/
if (cbox.MaxEdge.X - d > box.MinEdge.X && cbox.MinEdge.X + d < box.MaxEdge.X &&
cbox.MaxEdge.Z - d > box.MinEdge.Z &&
cbox.MinEdge.Z + d < box.MaxEdge.Z) {
if (box_info.is_step_up) {
pos_f->Y += cbox.MaxEdge.Y - box.MinEdge.Y;
box = box_0;
box.MinEdge += *pos_f;
box.MaxEdge += *pos_f;
}
if (std::fabs(cbox.MaxEdge.Y - box.MinEdge.Y) < 0.15f * BS) {
result.touching_ground = true;
if (box_info.is_object)
result.standing_on_object = true;
}
}
}
return result;
}
void LinearSMCimproved::predictionPerturbation(const SiconosVector& xTk, SimpleMatrix& CBstar)
{
if (_us->normInf() < _alpha)
{
if (_inDisceteTimeSlidingPhase)
{
SiconosVector& up = *_up;
if (_measuredPert->full())
{
if (_measuredPert->size() > 1)
{
_measuredPert->rotate(_measuredPert->end()-1);
_predictedPert->rotate(_predictedPert->end()-1);
}
}
else
{
// inject new vector in the case where the measurement vector is not full.
SP::SiconosVector sp1(new SiconosVector(_us->size(), 0));
SP::SiconosVector sp2(new SiconosVector(_us->size(), 0));
_measuredPert->push_front(sp1);
_predictedPert->push_front(sp2);
}
// inject new measured value and also perturbation prediction
SiconosVector& predictedPertC = *(*_predictedPert)[0];
SiconosVector& measuredPertC = *(*_measuredPert)[0];
// Cp_k = s_k + Cp_k-tilde
prod(*_Csurface, xTk, measuredPertC);
measuredPertC += *(*_predictedPert)[std::min((unsigned int)1, (unsigned int)_predictedPert->size()-1)];
// compute prediction
switch(_measuredPert->size()-1)
{
case 0:
predictedPertC = measuredPertC;
break;
case 1:
predictedPertC = 2*measuredPertC - *(*_measuredPert)[1];
break;
case 2:
predictedPertC = 3*measuredPertC - 3*(*(*_measuredPert)[1]) + *(*_measuredPert)[2];
break;
default:
RuntimeException::selfThrow("LinearSMCimproved::predictionPerturbation: unknown order " + _measuredPert->size());
}
// Compute the control to counteract the perturbation
up = predictedPertC;
up *= -1;
CBstar.PLUForwardBackwardInPlace(up);
// project onto feasible set
double norm = up.norm2();
if (norm > _ubPerturbation)
{
up *= _ubPerturbation/norm;
predictedPertC *= _ubPerturbation/norm;
}
}
else
_inDisceteTimeSlidingPhase = true;
}
else if (_inDisceteTimeSlidingPhase)
{
_inDisceteTimeSlidingPhase = false;
_up->zero();
}
}
