fix midpoint

Reviewed-on: #9

.gitignore

@@ -0,0 +1,47 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+
+.DS_STORE
+
+Win32
+*.vcxproj.user
+
+.vs
+SimulationsRunner/Debug
+SimulationsRunner/Release
+
+x64/
+Win32/
+Debug/
+Release/

AntTweakBar/src/AntTweakBar_2022.vcxproj

@@ -0,0 +1,496 @@
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+      <Platform>x64</Platform>
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+    <ProjectConfiguration Include="Release|Win32">
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+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
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+    <ProjectName>AntTweakBar</ProjectName>
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+    <LinkIncremental>false</LinkIncremental>
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+    <OutDir>../lib\</OutDir>
+    <IntDir>release32\</IntDir>
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+    <OutDir>../lib/debug\</OutDir>
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+    <TargetName>$(ProjectName)64</TargetName>
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+    <LinkIncremental>true</LinkIncremental>
+    <TargetName>$(ProjectName)</TargetName>
+    <OutDir>../lib/debug\</OutDir>
+    <IntDir>debug32\</IntDir>
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+      <InlineFunctionExpansion>OnlyExplicitInline</InlineFunctionExpansion>
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+      <StringPooling>true</StringPooling>
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+      <RuntimeLibrary>MultiThreaded</RuntimeLibrary>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <ForceConformanceInForLoopScope>true</ForceConformanceInForLoopScope>
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+      <Culture>0x0409</Culture>
+      <AdditionalIncludeDirectories>res;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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+      <SuppressStartupBanner>true</SuppressStartupBanner>
+      <GenerateDebugInformation>false</GenerateDebugInformation>
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+      <MapExports>false</MapExports>
+      <SetChecksum>true</SetChecksum>
+      <RandomizedBaseAddress>false</RandomizedBaseAddress>
+      <DataExecutionPrevention />
+      <ImportLibrary>$(OutDir)$(TargetName).lib</ImportLibrary>
+      <TargetMachine>MachineX64</TargetMachine>
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+      <Command>mkdir "$(SolutionDir)$(Platform)/$(Configuration)"
+xcopy /y /f "$(TargetPath)" "$(SolutionDir)$(Platform)/$(Configuration)"</Command>
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+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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+      <InlineFunctionExpansion>OnlyExplicitInline</InlineFunctionExpansion>
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+      <Culture>0x0409</Culture>
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+    </CustomBuild>
+  </ItemGroup>
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AntTweakBar/src/TwMgr.cpp

@@ -5748,8 +5748,13 @@ int ANT_CALL TwKeyTest(int _Key, int _Modifiers)
 }
 
 //  ---------------------------------------------------------------------------
+#if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201402L) || __cplusplus >= 201402L)
+#include <functional>
 
+struct StructCompare : public function<bool(TwType, TwType)>
+#else
 struct StructCompare : public binary_function<TwType, TwType, bool>
+#endif
 {
     bool operator()(const TwType& _Left, const TwType& _Right) const
     {

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+      <ObjectFileOutput>$(OutDir)%(Filename).fxo</ObjectFileOutput>
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+    </Link>
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+      <ObjectFileOutput>$(OutDir)%(Filename).fxo</ObjectFileOutput>
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+  </ItemDefinitionGroup>
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+    <ClCompile Include="MassSpringSystemSimulator.cpp" />
+    <ClCompile Include="TemplateSimulator.cpp" />
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+  <ImportGroup Label="ExtensionTargets">
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Simulations/Demo_2022.vcxproj.filters

@@ -0,0 +1,28 @@
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+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <FxCompile Include="effect.fx" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="MassSpringSystemSimulator.cpp" />
+    <ClCompile Include="TemplateSimulator.cpp" />
+    <ClCompile Include="util\FFmpeg.cpp" />
+    <ClCompile Include="util\util.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="DrawingUtilitiesClass.h" />
+    <ClInclude Include="MassSpringSystemSimulator.h" />
+    <ClInclude Include="Simulator.h" />
+    <ClInclude Include="TemplateSimulator.h" />
+    <ClInclude Include="util\FFmpeg.h" />
+    <ClInclude Include="util\matrixbase.h" />
+    <ClInclude Include="util\quaternion.h" />
+    <ClInclude Include="util\timer.h" />
+    <ClInclude Include="util\util.h" />
+    <ClInclude Include="util\vectorbase.h" />
+    <ClInclude Include="MassPoint.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <Text Include="..\readme.txt" />
+  </ItemGroup>
+</Project>

Simulations/DiffusionSimulator.cpp

@@ -1,159 +0,0 @@
-#include "DiffusionSimulator.h"
-#include "pcgsolver.h"
-using namespace std;
-
-Grid::Grid() {
-}
-
-
-DiffusionSimulator::DiffusionSimulator()
-{
-	m_iTestCase = 0;
-	m_vfMovableObjectPos = Vec3();
-	m_vfMovableObjectFinalPos = Vec3();
-	m_vfRotate = Vec3();
-	// to be implemented
-}
-
-const char * DiffusionSimulator::getTestCasesStr(){
-	return "Explicit_solver, Implicit_solver";
-}
-
-void DiffusionSimulator::reset(){
-		m_mouse.x = m_mouse.y = 0;
-		m_trackmouse.x = m_trackmouse.y = 0;
-		m_oldtrackmouse.x = m_oldtrackmouse.y = 0;
-
-}
-
-void DiffusionSimulator::initUI(DrawingUtilitiesClass * DUC)
-{
-	this->DUC = DUC;
-	// to be implemented
-}
-
-void DiffusionSimulator::notifyCaseChanged(int testCase)
-{
-	m_iTestCase = testCase;
-	m_vfMovableObjectPos = Vec3(0, 0, 0);
-	m_vfRotate = Vec3(0, 0, 0);
-	//
-	//to be implemented
-	//
-	switch (m_iTestCase)
-	{
-	case 0:
-		cout << "Explicit solver!\n";
-		break;
-	case 1:
-		cout << "Implicit solver!\n";
-		break;
-	default:
-		cout << "Empty Test!\n";
-		break;
-	}
-}
-
-Grid* DiffusionSimulator::diffuseTemperatureExplicit() {//add your own parameters
-	Grid* newT = new Grid();
-	// to be implemented
-	//make sure that the temperature in boundary cells stays zero
-	return newT;
-}
-
-void setupB(std::vector<Real>& b) {//add your own parameters
-	// to be implemented
-	//set vector B[sizeX*sizeY]
-	for (int i = 0; i < 25; i++) {
-		b.at(i) = 0;
-	}
-}
-
-void fillT() {//add your own parameters
-	// to be implemented
-	//fill T with solved vector x
-	//make sure that the temperature in boundary cells stays zero
-}
-
-void setupA(SparseMatrix<Real>& A, double factor) {//add your own parameters
-	// to be implemented
-	//setup Matrix A[sizeX*sizeY*sizeZ, sizeX*sizeY*sizeZ]
-	// set with:  A.set_element( index1, index2 , value );
-	// if needed, read with: A(index1, index2);
-	// avoid zero rows in A -> set the diagonal value for boundary cells to 1.0
-	for (int i = 0; i < 25; i++) {
-			A.set_element(i, i, 1); // set diagonal
-	}
-}
-
-
-void DiffusionSimulator::diffuseTemperatureImplicit() {//add your own parameters
-	// solve A T = b
-	// to be implemented
-	const int N = 25;//N = sizeX*sizeY*sizeZ
-	SparseMatrix<Real> *A = new SparseMatrix<Real> (N);
-	std::vector<Real> *b = new std::vector<Real>(N);
-
-	setupA(*A, 0.1);
-	setupB(*b);
-
-	// perform solve
-	Real pcg_target_residual = 1e-05;
-	Real pcg_max_iterations = 1000;
-	Real ret_pcg_residual = 1e10;
-	int  ret_pcg_iterations = -1;
-
-	SparsePCGSolver<Real> solver;
-	solver.set_solver_parameters(pcg_target_residual, pcg_max_iterations, 0.97, 0.25);
-
-	std::vector<Real> x(N);
-	for (int j = 0; j < N; ++j) { x[j] = 0.; }
-
-	// preconditioners: 0 off, 1 diagonal, 2 incomplete cholesky
-	solver.solve(*A, *b, x, ret_pcg_residual, ret_pcg_iterations, 0);
-	// x contains the new temperature values
-	fillT();//copy x to T
-}
-
-
-
-void DiffusionSimulator::simulateTimestep(float timeStep)
-{
-	// to be implemented
-	// update current setup for each frame
-	switch (m_iTestCase)
-	{
-	case 0:
-		T = diffuseTemperatureExplicit();
-		break;
-	case 1:
-		diffuseTemperatureImplicit();
-		break;
-	}
-}
-
-void DiffusionSimulator::drawObjects()
-{
-	// to be implemented
-	//visualization
-}
-
-
-void DiffusionSimulator::drawFrame(ID3D11DeviceContext* pd3dImmediateContext)
-{
-	drawObjects();
-}
-
-void DiffusionSimulator::onClick(int x, int y)
-{
-	m_trackmouse.x = x;
-	m_trackmouse.y = y;
-}
-
-void DiffusionSimulator::onMouse(int x, int y)
-{
-	m_oldtrackmouse.x = x;
-	m_oldtrackmouse.y = y;
-	m_trackmouse.x = x;
-	m_trackmouse.y = y;
-}

Simulations/DiffusionSimulator.h

@@ -1,51 +0,0 @@
-#ifndef DIFFUSIONSIMULATOR_h
-#define DIFFUSIONSIMULATOR_h
-
-#include "Simulator.h"
-#include "vectorbase.h"
-
-//impement your own grid class for saving grid data
-class Grid {
-public:
-	// Construtors
-	Grid();
-
-
-private:
-	// Attributes
-};
-
-
-
-class DiffusionSimulator:public Simulator{
-public:
-	// Construtors
-	DiffusionSimulator();
-
-	// Functions
-	const char * getTestCasesStr();
-	void initUI(DrawingUtilitiesClass * DUC);
-	void reset();
-	void drawFrame(ID3D11DeviceContext* pd3dImmediateContext);
-	void notifyCaseChanged(int testCase);
-	void simulateTimestep(float timeStep);
-	void externalForcesCalculations(float timeElapsed) {};
-	void onClick(int x, int y);
-	void onMouse(int x, int y);
-	// Specific Functions
-	void drawObjects();
-	Grid* diffuseTemperatureExplicit();
-	void diffuseTemperatureImplicit();
-
-private:
-	// Attributes
-	Vec3  m_vfMovableObjectPos;
-	Vec3  m_vfMovableObjectFinalPos;
-	Vec3  m_vfRotate;
-	Point2D m_mouse;
-	Point2D m_trackmouse;
-	Point2D m_oldtrackmouse;
-	Grid *T; //save results of every time step
-};
-
-#endif

Simulations/MassPoint.h

@@ -0,0 +1,8 @@
+#pragma once
+#include "util/vectorbase.h"
+
+struct MassPoint {
+	GamePhysics::Vec3 position;
+	GamePhysics::Vec3 velocity;
+	bool isFixed;
+};

Simulations/MassSpringSystemSimulator.cpp

@@ -0,0 +1,381 @@
+#include "MassSpringSystemSimulator.h"
+#include <stdio.h>
+
+MassSpringSystemSimulator::MassSpringSystemSimulator()
+{
+}
+
+const char* MassSpringSystemSimulator::getTestCasesStr()
+{
+	return "Demo1,Demo2,Demo3,Demo4";
+}
+
+void MassSpringSystemSimulator::initUI(DrawingUtilitiesClass* DUC)
+{
+	this->DUC = DUC;
+	switch (m_iTestCase)
+	{
+		case 0:
+			break;
+		case 1:
+			break;
+		case 2:
+			break;
+		default:
+			break;
+	}
+}
+
+void MassSpringSystemSimulator::reset()
+{
+	m_mouse.x = m_mouse.y = 0;
+	m_trackmouse.x = m_trackmouse.y = 0;
+	m_oldtrackmouse.x = m_oldtrackmouse.y = 0;
+
+	springs.clear();
+	masspoints.clear();
+}
+
+void MassSpringSystemSimulator::drawFrame(ID3D11DeviceContext* pd3dImmediateContext)
+{
+	
+	for (size_t i = 0; i < springs.size(); i++) {
+		auto sp = springs.at(i);
+		if (!sp.isValid())
+		{
+			springs.erase(springs.begin() + i);
+			continue;
+		}
+		auto mp1 = sp.mp1.lock();
+		auto mp2 = sp.mp2.lock();
+		DUC->setUpLighting(Vec3(), 0.4 * Vec3(1, 1, 1), 100, 0.6 * Vec3(0.97, 0.86, 1));
+		
+		DUC->drawSphere(mp1->position, Vec3(0.01));
+		DUC->drawSphere(mp2->position, Vec3(0.01));
+
+		DUC->beginLine();
+		DUC->drawLine(mp1->position, Vec3(1,0,0), mp2->position, Vec3(0,1,0));
+		DUC->endLine();
+	}
+}
+
+void MassSpringSystemSimulator::notifyCaseChanged(int testCase)
+{
+	m_iTestCase = testCase;
+	system("cls");
+	reset();
+
+	switch (m_iTestCase)
+	{
+	case 0: {
+		cout << "Demo 1 !\n";
+		setMass(10);
+		setStiffness(40);
+
+		int first = addMassPoint(Vec3(0, 0, 0), Vec3(-1, 0, 0), true);
+		int second = addMassPoint(Vec3(0, 2, 0), Vec3(1, 0, 0), true);
+
+		addSpring(first, second, 1);
+		cout << "\t -- INITIAL --\n";
+		printSpring(springs.at(0));
+		cout << "--------------------------------------------------" << std::endl;
+
+		//calculate Euler for one step and print results
+		setIntegrator(EULER);
+		cout << "\n\n\t -- EULER RESULT --\n";
+		simulateTimestep(1);
+		printSpring(springs.at(0));
+
+		cout << "--------------------------------------------------" << std::endl;
+
+		reset();
+		first = addMassPoint(Vec3(0, 0, 0), Vec3(-1, 0, 0), true);
+		second = addMassPoint(Vec3(0, 2, 0), Vec3(1, 0, 0), true);
+
+		addSpring(first, second, 1);
+
+		//calculate Midpoint for one step and print results
+		setIntegrator(MIDPOINT);
+		cout << "\n\n\t -- MIDPOINT RESULT --\n";
+		simulateTimestep(1);
+		printSpring(springs.at(0));
+		break;
+	}
+	
+	case 1: {
+		cout << "Demo 2 !\n";
+		reset();
+		int first = addMassPoint(Vec3(0, 0, 0), Vec3(-1, 0, 0), true);
+		int second = addMassPoint(Vec3(0, 2, 0), Vec3(1, 0, 0), true);
+		addSpring(first, second, 1.0);
+
+		cout << "\t -- INITIAL --\n";
+		printSpring(springs.at(0));
+
+		cout << "--------------------------------------------------" << std::endl;
+
+		//calculate Euler for a timestep of 0.005 and print results
+		setIntegrator(EULER);
+		cout << "\n\n\t -- EULER RESULT--\n";
+		simulateTimestep(0.005);
+		printSpring(springs.at(0));
+
+		break;
+	}
+
+	case 2: {
+		cout << "Demo 3 !\n";
+		reset();
+		int first = addMassPoint(Vec3(0, 0, 0), Vec3(-1, 0, 0), true);
+		int second = addMassPoint(Vec3(0, 2, 0), Vec3(1, 0, 0), true);
+		addSpring(first, second, 1.0);
+
+		cout << "\t -- INITIAL --\n";
+		printSpring(springs.at(0));
+
+		cout << "--------------------------------------------------" << std::endl;
+
+		//calculate Midpoint for a timestep of 0.005 and print results
+		setIntegrator(MIDPOINT);
+		cout << "\n\n\t -- MIDPOINT RESULT --\n";
+		simulateTimestep(0.005);
+		printSpring(springs.at(0));
+		break;
+	}
+	case 3: {
+		cout << "Demo 4 !\n";
+		break;
+	}
+	default:
+		break;
+	}
+}
+
+void MassSpringSystemSimulator::externalForcesCalculations(float timeElapsed) 
+{
+	Point2D mouseDiff;
+	mouseDiff.x = m_trackmouse.x - m_oldtrackmouse.x;
+	mouseDiff.y = m_trackmouse.y - m_oldtrackmouse.y;
+	if (mouseDiff.x != 0 || mouseDiff.y != 0)
+	{
+		Mat4 worldViewInv = Mat4(DUC->g_camera.GetWorldMatrix() * DUC->g_camera.GetViewMatrix());
+		worldViewInv = worldViewInv.inverse();
+		Vec3 inputView = Vec3((float)mouseDiff.x, (float)-mouseDiff.y, 0);
+		Vec3 inputWorld = worldViewInv.transformVectorNormal(inputView);
+		// find a proper scale!
+		float inputScale = 0.001f;
+		inputWorld = inputWorld * inputScale;
+		
+		//m_vfMovableObjectPos = m_vfMovableObjectFinalPos + inputWorld;
+	}
+	else {
+		//m_vfMovableObjectFinalPos = m_vfMovableObjectPos;
+	}
+
+}
+
+void MassSpringSystemSimulator::simulateTimestep(float timeStep)
+{
+	//update current setup for each frame
+	for (size_t i = 0; i < springs.size(); i++) {
+		auto sp = springs.at(i);
+		if (!sp.isValid())
+		{
+			springs.erase(springs.begin() + i);
+			continue;
+		}
+
+		if (m_iIntegrator == EULER) {
+
+			Euler(sp, timeStep);
+		}
+		else if (m_iIntegrator == MIDPOINT) {
+			Midpoint(sp, timeStep);
+		}
+		else if (m_iIntegrator == LEAPFROG) {
+			//TODO: Add Leapfrog
+		}
+
+	}
+}
+
+void MassSpringSystemSimulator::onClick(int x, int y)
+{
+	m_trackmouse.x = x;
+	m_trackmouse.y = y;
+}
+
+void MassSpringSystemSimulator::onMouse(int x, int y)
+{
+	m_oldtrackmouse.x = x;
+	m_oldtrackmouse.y = y;
+	m_trackmouse.x = x;
+	m_trackmouse.y = y;
+}
+
+void MassSpringSystemSimulator::setMass(float mass)
+{
+	m_fMass = mass;
+}
+
+void MassSpringSystemSimulator::setStiffness(float stiffness)
+{
+	m_fStiffness = stiffness;
+}
+
+void MassSpringSystemSimulator::setDampingFactor(float damping)
+{
+	m_fDamping = damping;
+}
+
+int MassSpringSystemSimulator::addMassPoint(Vec3 position, Vec3 Velocity, bool isFixed)
+{
+	MassPoint masspoint;
+	masspoint.position = position;
+	masspoint.velocity = Velocity;
+	masspoint.isFixed = isFixed;
+	masspoints.push_back(std::make_shared<MassPoint>(masspoint));
+
+	return masspoints.size() - 1;
+}
+
+void MassSpringSystemSimulator::addSpring(int masspoint1, int masspoint2, float initialLength)
+{
+	auto mp1 = masspoints.at(masspoint1);
+	auto mp2 = masspoints.at(masspoint2);
+
+	Spring spring;
+	spring.mp1 = mp1;
+	spring.mp2 = mp2;
+	spring.initialLength = initialLength;
+
+	springs.push_back(spring);
+}
+
+int MassSpringSystemSimulator::getNumberOfMassPoints()
+{
+	return masspoints.size();
+}
+
+int MassSpringSystemSimulator::getNumberOfSprings()
+{
+	return springs.size();
+}
+
+Vec3 MassSpringSystemSimulator::getPositionOfMassPoint(int index)
+{
+	auto mp = masspoints.at(index);
+	return mp->position;
+}
+
+Vec3 MassSpringSystemSimulator::getVelocityOfMassPoint(int index)
+{
+	auto mp = masspoints.at(index);
+	return mp->velocity;
+}
+
+void MassSpringSystemSimulator::applyExternalForce(Vec3 force)
+{
+	//eine Vorstellung: for all Masspoints, update force
+}
+
+float MassSpringSystemSimulator::LengthCalculator(Vec3 vector) 
+{
+	//wurzel aus Vektor
+	float length = sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z);
+	return length;
+}
+
+Vec3 MassSpringSystemSimulator::calculatePositionTimestepEuler(Vec3 oldPosition, float timestep, Vec3 velocity)
+{
+	return oldPosition + timestep * velocity;
+}
+
+Vec3 MassSpringSystemSimulator::calculateVelocityTimestepEuler(Vec3 oldVelocity, float timestep, Vec3 acceleration)
+{
+	return oldVelocity + acceleration * timestep;
+}
+
+Vec3 MassSpringSystemSimulator::calculateAcceleration(Vec3 force, float mass)
+{
+	return force / mass;
+}
+
+void MassSpringSystemSimulator::Midpoint(Spring& spring, float timestep) {
+	//here some implementation about Midpoint
+	auto massPoint1 = spring.mp1.lock();
+	auto massPoint2 = spring.mp2.lock();
+
+	Vec3 PosVector = massPoint1->position - massPoint2->position;
+	//Abstand ausrechnen
+	float length = sqrtf(PosVector.x * PosVector.x + PosVector.y * PosVector.y + PosVector.z * PosVector.z);
+	//normalize
+	Vec3 normal = PosVector / length;
+
+	//Midpoint calculator
+	std::tuple<Vec3, Vec3> midpointStep1 = MidPointHalfStep(timestep * .5, spring, massPoint1->position, massPoint1->velocity, normal, length);
+	std::tuple<Vec3, Vec3> midpointStep2 = MidPointHalfStep(timestep * .5, spring, massPoint2->position, massPoint2->velocity, -normal, length);
+
+	Vec3 newPosVector = std::get<0>(midpointStep1) - std::get<0>(midpointStep2);
+	float newLength = sqrtf(newPosVector.x * newPosVector.x + newPosVector.y * newPosVector.y + newPosVector.z * newPosVector.z);
+	Vec3 newNormal = newPosVector / newLength;
+
+	std::tuple<Vec3, Vec3> midpoint1 = MidPointStep(timestep, spring, massPoint1->position, massPoint1->velocity, std::get<1>(midpointStep1), newNormal, newLength);
+	std::tuple<Vec3, Vec3> midpoint2 = MidPointStep(timestep, spring, massPoint2->position, massPoint2->velocity, std::get<1>(midpointStep2), -newNormal, newLength);
+	
+	massPoint1->position = std::get<0>(midpoint1);
+	massPoint1->velocity = std::get<1>(midpoint1);
+	massPoint2->position = std::get<0>(midpoint2);
+	massPoint2->velocity = std::get<1>(midpoint2);
+}
+
+std::tuple<Vec3, Vec3> MassSpringSystemSimulator::MidPointHalfStep(double timestep, const Spring& spring, Vec3 position, Vec3 velocity, Vec3 normal, double length)
+{
+	return MidPointStep(timestep, spring, position, velocity, velocity, normal, length);
+}
+
+
+std::tuple<Vec3, Vec3> MassSpringSystemSimulator::MidPointStep(double timestep, const Spring& spring, Vec3 position, Vec3 oldVelo,Vec3 velocity, Vec3 normal, double length)
+{
+	auto force = -m_fStiffness * (length - spring.initialLength) * normal;
+	auto acc = calculateAcceleration(force, m_fMass);
+	auto pos = position + timestep * velocity;
+	auto vel = oldVelo + timestep * acc;
+	return std::tuple<Vec3, Vec3>(pos, vel);
+}
+
+void MassSpringSystemSimulator::Euler(Spring& spring, float timestep)
+{
+	auto massPoint1 = spring.mp1.lock();
+	auto massPoint2 = spring.mp2.lock();
+
+	//take old position and send to calculatePositionTimestepEuler
+	auto PosVector = massPoint1->position - massPoint2->position;
+	auto lengthVector = sqrt(PosVector.x * PosVector.x + PosVector.y * PosVector.y + PosVector.z * PosVector.z);
+	auto normalized = PosVector / lengthVector;
+
+	// Actual Calculation
+	// Force of spring is -k * (l - L) * normalizedVector [for P2 we can take -F1)
+	auto force = -m_fStiffness * (lengthVector - spring.initialLength) * normalized;
+	auto foreP2 = -1 * force;
+	auto veloc = calculateVelocityTimestepEuler(massPoint1->velocity, timestep, calculateAcceleration(force, m_fMass));
+	auto pos = calculatePositionTimestepEuler(massPoint1->position, timestep, massPoint1->velocity);
+
+	auto veloc2 = calculateVelocityTimestepEuler(massPoint2->velocity, timestep, calculateAcceleration(foreP2, m_fMass));
+	auto pos2 = calculatePositionTimestepEuler(massPoint2->position, timestep, massPoint2->velocity);
+
+	// Update Positions and Velocity
+	massPoint1->position = pos;
+	massPoint1->velocity = veloc;
+
+	massPoint2->position = pos2;
+	massPoint2->velocity = veloc2;
+}
+
+void MassSpringSystemSimulator::printSpring(const Spring& spring)
+{
+	auto mp1 = spring.mp1.lock();
+	auto mp2 = spring.mp2.lock();
+	printf("Masspoint 1:\nPosition: %s \nVelocity: %s\n\n", mp1->position.toString().c_str(), mp1->velocity.toString().c_str());
+	printf("Masspoint 2:\nPosition: %s \nVelocity: %s\n", mp2->position.toString().c_str(), mp2->velocity.toString().c_str());
+}

Simulations/MassSpringSystemSimulator.h

@@ -1,6 +1,8 @@
 #ifndef MASSSPRINGSYSTEMSIMULATOR_h
 #define MASSSPRINGSYSTEMSIMULATOR_h
 #include "Simulator.h"
+#include "MassPoint.h"
+#include "Spring.h"
 
 // Do Not Change
 #define EULER 0
@@ -37,6 +39,18 @@ public:
 	Vec3 getVelocityOfMassPoint(int index);
 	void applyExternalForce(Vec3 force);
 
+	void Midpoint(Spring& spring, float timestep);
+	std::tuple<Vec3, Vec3> MidPointHalfStep(double timestep, const Spring& spring, Vec3 position, Vec3 velocity, Vec3 normal, double length);
+	std::tuple<Vec3, Vec3> MassSpringSystemSimulator::MidPointStep(double timestep, const Spring& spring, Vec3 position, Vec3 oldVelo, Vec3 velocity, Vec3 normal, double length);
+	float LengthCalculator(Vec3 vector);
+
+	Vec3 calculatePositionTimestepEuler(Vec3 oldPosition, float timestep, Vec3 veloctiy);
+	Vec3 calculateVelocityTimestepEuler(Vec3 oldVelocity, float timestep, Vec3 acceleration);
+	Vec3 calculateAcceleration(Vec3 acceleration, float mass);
+	void Euler(Spring& spring, float timestep);
+
+	void printSpring(const Spring& spring);
+	
 	// Do Not Change
 	void setIntegrator(int integrator) {
 		m_iIntegrator = integrator;
@@ -54,5 +68,9 @@ private:
 	Point2D m_mouse;
 	Point2D m_trackmouse;
 	Point2D m_oldtrackmouse;
+
+	//Mass points and springs
+	std::vector<std::shared_ptr<MassPoint>> masspoints;
+	std::vector<Spring> springs;
 };
 #endif

Simulations/SphereSystemSimulator.cpp

@@ -1,11 +0,0 @@
-#include "SphereSystemSimulator.h"
-
-std::function<float(float)> SphereSystemSimulator::m_Kernels[5] = {
-	[](float x) {return 1.0f; },              // Constant, m_iKernel = 0
-	[](float x) {return 1.0f - x; },          // Linear, m_iKernel = 1, as given in the exercise Sheet, x = d/2r
-	[](float x) {return (1.0f - x)*(1.0f - x); }, // Quadratic, m_iKernel = 2
-	[](float x) {return 1.0f / (x)-1.0f; },     // Weak Electric Charge, m_iKernel = 3
-	[](float x) {return 1.0f / (x*x) - 1.0f; },   // Electric Charge, m_iKernel = 4
-};
-
-// SphereSystemSimulator member functions

Simulations/SphereSystemSimulator.h

@@ -1,49 +0,0 @@
-#ifndef SPHSYSTEMSIMULATOR_h
-#define SPHSYSTEMSIMULATOR_h
-#include "Simulator.h"
-//#include "spheresystem.h", add your sphere system header file
-
-#define NAIVEACC 0
-#define GRIDACC 1
-
-class SphereSystemSimulator:public Simulator{
-public:
-	// Construtors
-	SphereSystemSimulator();
-	// Functions
-	const char * getTestCasesStr();
-	void initUI(DrawingUtilitiesClass * DUC);
-	void reset();
-	void drawFrame(ID3D11DeviceContext* pd3dImmediateContext);
-	void notifyCaseChanged(int testCase);
-	void externalForcesCalculations(float timeElapsed);
-	void simulateTimestep(float timeStep);
-	void onClick(int x, int y);
-	void onMouse(int x, int y);
-	
-protected:
-	// Attributes
-	Vec3 externalForce;
-	Point2D m_mouse;
-	Point2D m_trackmouse;
-	Point2D m_oldtrackmouse;
-	float m_fMass;
-	float m_fRadius;
-	float m_fForceScaling;
-	float m_fDamping;
-	int   m_iNumSpheres;
-	
-	int   m_iKernel; // index of the m_Kernels[5], more detials in SphereSystemSimulator.cpp
-	static std::function<float(float)> m_Kernels[5];
-	
-	int   m_iAccelerator; // switch between NAIVEACC and GRIDACC, (optionally, KDTREEACC, 2)
-	
-	//SphereSystem * m_pSphereSystem; // add your own sphere system member!
-	// for Demo 3 only:
-	// you will need multiple SphereSystem objects to do comparisons in Demo 3
-	// m_iAccelerator should be ignored.
-	// SphereSystem * m_pSphereSystemGrid; 
-
-};
-
-#endif

Simulations/Spring.h

@@ -0,0 +1,11 @@
+#pragma once
+
+struct Spring
+{
+	std::weak_ptr<MassPoint> mp1;
+	std::weak_ptr<MassPoint> mp2;
+	float initialLength;
+	
+	bool isValid() { return !mp1.expired() && !mp2.expired(); }
+};
+

Simulations/general.h

@@ -1,160 +0,0 @@
-/******************************************************************************
- *
- * MantaFlow fluid solver framework
- * Copyright 2011 Tobias Pfaff, Nils Thuerey 
- *
- * This program is free software, distributed under the terms of the
- * GNU General Public License (GPL) 
- * http://www.gnu.org/licenses
- *
- * Globally used macros and functions
- *
- ******************************************************************************/
-
-#ifndef _GENERAL_H
-#define _GENERAL_H
-
-#include <iostream>
-#include <sstream>
-#include <cmath>
-#include <algorithm>
-
-namespace Manta {
-
-// ui data exchange
-#ifdef GUI
-	// defined in qtmain.cpp
-	extern void updateQtGui(bool full, int frame, float time, const std::string& curPlugin);
-#else
-	// dummy function if GUI is not enabled
-	inline void updateQtGui(bool full, int frame, float time, const std::string& curPlugin) {}
-#endif
-
-
-// activate debug mode if _DEBUG is defined (eg for windows)
-#ifndef DEBUG
-#ifdef _DEBUG
-#define DEBUG 1
-#endif // _DEBUG
-#endif // DEBUG
-
-// Standard exception
-class Error : public std::exception
-{
-public:
-   Error(const std::string& s) : mS(s) {
-#		ifdef DEBUG
-		// print error
-		std::cerr << "Aborting: "<< s <<" \n";
-		// then force immedieate crash in debug mode
-		*(volatile int*)(0) = 1; 
-#		endif
-   }
-   virtual ~Error() throw() {}
-   virtual const char* what() const throw() { return mS.c_str(); }
-private:
-   std::string mS;   
-};
-
-// mark unused parameter variables
-#define unusedParameter(x) ((void)x)
-
-// Debug output functions and macros
-extern int gDebugLevel;
-
-#define MSGSTREAM std::ostringstream msg; msg.precision(7); msg.width(9);
-#define debMsg(mStr, level)     if (_chklevel(level)) { MSGSTREAM; msg << mStr; std::cout << msg.str()  << std::endl; }
-inline bool _chklevel(int level=0) { return gDebugLevel >= level; }
-
-// error and assertation macros
-#ifdef DEBUG
-#   define DEBUG_ONLY(a) a
-#else
-#   define DEBUG_ONLY(a)
-#endif
-#define throwError(msg)      { std::ostringstream __s; __s << msg << std::endl << "Error raised in " << __FILE__ << ":" << __LINE__; throw Manta::Error(__s.str()); }
-#define errMsg(msg)          throwError(msg);
-#define assertMsg(cond,msg)  if(!(cond)) throwError(msg)
-#define assertDeb(cond,msg)  DEBUG_ONLY( assertMsg(cond,msg) )
-
-// for compatibility with blender, blender only defines WITH_MANTA, make sure we have "BLENDER"
-#ifndef BLENDER
-#ifdef WITH_MANTA
-#define BLENDER 1
-#endif
-#endif
-
-// common type for indexing large grids
-typedef long long IndexInt;
-
-// template tricks
-template<typename T>
-struct remove_pointers {
-	typedef T type;
-};
-
-template<typename T>
-struct remove_pointers<T*> {
-	typedef T type;
-};
-
-template<typename T>
-struct remove_pointers<T&> {
-	typedef T type;
-};
-
-// Commonly used enums and types
-//! Timing class for preformance measuring
-struct MuTime {
-	MuTime() { get(); }
-	MuTime operator-(const MuTime& a) { MuTime b; b.time = time - a.time; return b; };
-	MuTime operator+(const MuTime& a) { MuTime b; b.time = time + a.time; return b; };
-	MuTime operator/(unsigned long a) { MuTime b; b.time = time / a; return b; };
-	MuTime& operator+=(const MuTime& a) { time += a.time; return *this; }
-	MuTime& operator-=(const MuTime& a) { time -= a.time; return *this; }
-	MuTime& operator/=(unsigned long a) { time /= a; return *this; }
-	std::string toString();
-	
-    void clear() { time = 0; }
-	void get();
-	MuTime update();
-	
-	unsigned long time;
-};
-std::ostream& operator<< (std::ostream& os, const MuTime& t);
-	
-//! generate a string with infos about the current mantaflow build
-std::string buildInfoString();
-
-// Some commonly used math helpers
-template<class T> inline T square(T a) {
-	return a*a;
-}
-template<class T> inline T cubed(T a) {
-	return a*a*a;
-}
-
-template<class T> inline T clamp(const T& val, const T& vmin, const T& vmax) {
-	if (val < vmin) return vmin;
-	if (val > vmax) return vmax;
-	return val;
-}
-
-template<class T> inline T      nmod(const T& a, const T& b);
-template<>        inline int    nmod(const int& a, const int& b) { int c=a%b; return (c<0) ? (c+b) : c; }
-template<>        inline float  nmod(const float& a, const float& b) { float c=std::fmod(a,b); return (c<0) ? (c+b) : c; }
-template<>        inline double nmod(const double& a, const double& b) { double c=std::fmod(a,b); return (c<0) ? (c+b) : c; }
-
-template<class T> inline T      safeDivide(const T& a, const T& b);
-template<>        inline int    safeDivide<int>(const int &a, const int& b) { return (b) ? (a/b) : a; }
-template<>        inline float  safeDivide<float>(const float &a, const float& b) { return (b) ? (a/b) : a; }
-template<>        inline double safeDivide<double>(const double &a, const double& b) { return (b) ? (a/b) : a; }
-
-inline bool c_isnan(float c) { 
-	volatile float d=c;
-	return d != d;
-}
-
-} // namespace
-
-#endif

Simulations/main.cpp

@@ -21,10 +21,9 @@ using namespace GamePhysics;
 //#define ADAPTIVESTEP
 
 //#define TEMPLATE_DEMO
-//#define MASS_SPRING_SYSTEM
+#define MASS_SPRING_SYSTEM
 //#define RIGID_BODY_SYSTEM
 //#define SPH_SYSTEM
-#define DIFFUSION_SYSTEM
 
 #ifdef TEMPLATE_DEMO
 #include "TemplateSimulator.h"
@@ -39,10 +38,6 @@ using namespace GamePhysics;
 //#include "SPHSystemSimulator.h"
 #endif
 
-#ifdef DIFFUSION_SYSTEM
-#include "DiffusionSimulator.h"
-#endif
-
 DrawingUtilitiesClass * g_pDUC;
 Simulator * g_pSimulator;
 float 	g_fTimestep = 0.001;
@@ -58,9 +53,14 @@ bool firstTime = true;
 FFmpeg* g_pFFmpegVideoRecorder = nullptr;
 
 
+// Input Stuff
+float lastX;
+float lastY;
+
+
 void initTweakBar(){
 	g_pDUC->g_pTweakBar = TwNewBar("TweakBar");
-	TwDefine(" TweakBar color='0 128 128' alpha=128 ");
+	TwDefine(" TweakBar color='128 128 128' alpha=128 ");
 	TwType TW_TYPE_TESTCASE = TwDefineEnumFromString("Test Scene", g_pSimulator->getTestCasesStr());
 	TwAddVarRW(g_pDUC->g_pTweakBar, "Test Scene", TW_TYPE_TESTCASE, &g_iTestCase, "");
 	// HINT: For buttons you can directly pass the callback function as a lambda expression.
@@ -207,10 +207,23 @@ void CALLBACK OnMouse( bool bLeftButtonDown, bool bRightButtonDown, bool bMiddle
 	if (bLeftButtonDown)
 	{
 		g_pSimulator->onClick(xPos,yPos);
+		
+		int x = xPos;
+		int y = yPos;
 	}
 	else
 	{
 		g_pSimulator->onMouse(xPos, yPos);
+
+		float deltaX = lastX - xPos;
+		float deltaY = lastY - yPos;
+
+		lastX = xPos;
+		lastY = yPos;
+
+		/*printf("X Delta: %f \n", deltaX);
+		printf("Y Delta: %f \n", deltaY);*/
+
 	}
 }
 
@@ -374,9 +387,6 @@ int main(int argc, char* argv[])
 #endif
 #ifdef SPH_SYSTEM
 	//g_pSimulator= new SPHSystemSimulator();
-#endif
-#ifdef DIFFUSION_SYSTEM
-	g_pSimulator= new DiffusionSimulator();
 #endif
 	g_pSimulator->reset();
 

Simulations/pcgsolver.h

@@ -1,750 +0,0 @@
-//
-//  Preconditioned conjugate gradient solver
-//
-//  Created by Robert Bridson, Ryoichi Ando and Nils Thuerey
-//
-
-#ifndef RCMATRIX3_H
-#define RCMATRIX3_H
-
-#include <iterator>
-#include <cassert>
-#include <vector>
-#include <fstream>
-#include <cmath>
-#include <functional>
-
-// index type 
-#define int_index long long
-
-// parallelization disabled
-
-#define parallel_for(size)  { int thread_number = 0; int_index parallel_index=0; for( int_index parallel_index=0; parallel_index<(int_index)size; parallel_index++ ) {
-#define parallel_end 	} thread_number=parallel_index=0; }
-
-#define parallel_block 
-#define do_parallel 
-#define do_end
-#define block_end
-
-#include "vectorbase.h"
-
-// note - "Int" instead of "N" here, the latter is size!
-template<class Int, class T>
-struct InstantBLAS {
-	static inline Int offset(Int N, Int incX) { return ((incX) > 0 ?  0 : ((N) - 1) * (-(incX))); }
-	static T cblas_ddot( const Int N, const T *X, const Int incX, const T *Y, const Int incY) {
-		double r  = 0.0; // always use double precision internally here...
-		Int    i;
-		Int    ix = offset(N,incX);
-		Int    iy = offset(N,incY);
-		for (i = 0; i < N; i++) {
-			r  += X[ix] * Y[iy];
-			ix += incX;
-			iy += incY;
-		}
-		return (T)r;
-	}
-	static void cblas_daxpy( const Int N, const T alpha, const T *X, const Int incX, T *Y, const Int incY) {
-		Int i;
-		if (N     <= 0  ) return;
-		if (alpha == 0.0) return;
-		if (incX == 1 && incY == 1) {
-			const Int m = N % 4;
-			for (i = 0; i < m; i++)
-				Y[i] += alpha * X[i];
-			for (i = m; i + 3 < N; i += 4) {
-				Y[i    ] += alpha * X[i    ];
-				Y[i + 1] += alpha * X[i + 1];
-				Y[i + 2] += alpha * X[i + 2];
-				Y[i + 3] += alpha * X[i + 3];
-			}
-		} else {
-			Int ix = offset(N, incX);
-			Int iy = offset(N, incY);
-			for (i = 0; i < N; i++) {
-				Y[iy] += alpha * X[ix];
-				ix    += incX;
-				iy    += incY;
-			}
-		}
-	}
-	// dot products ==============================================================
-	static inline T dot(const std::vector<T> &x, const std::vector<T> &y) {
-		return cblas_ddot((int)x.size(), &x[0], 1, &y[0], 1);
-	}
-	
-	// inf-norm (maximum absolute value: index of max returned) ==================
-	static inline Int index_abs_max(const std::vector<T> &x) {
-		int maxind = 0;
-		T maxvalue = 0;
-		for(Int i = 0; i < (Int)x.size(); ++i) {
-			if(std::abs(x[i]) > maxvalue) {
-				maxvalue = fabs(x[i]);
-				maxind = i;
-			}
-		}
-		return maxind;
-	}
-	
-	// inf-norm (maximum absolute value) =========================================
-	// technically not part of BLAS, but useful
-	static inline T abs_max(const std::vector<T> &x)
-	{ return std::abs(x[index_abs_max(x)]); }
-	
-	// saxpy (y=alpha*x+y) =======================================================
-	static inline void add_scaled(T alpha, const std::vector<T> &x, std::vector<T> &y) {
-		cblas_daxpy((Int)x.size(), alpha, &x[0], 1, &y[0], 1);
-	}
-};
-
-
-
-
-template<class T>
-void zero(std::vector<T> &v)
-{ for(int i=(int)v.size()-1; i>=0; --i) v[i]=0; }
-
-template<class T>
-void insert(std::vector<T> &a, unsigned int index, T e)
-{
-   a.push_back(a.back());
-   for(unsigned int i=(unsigned int)a.size()-1; i>index; --i)
-      a[i]=a[i-1];
-   a[index]=e;
-}
-
-template<class T>
-void erase(std::vector<T> &a, unsigned int index)
-{
-   for(unsigned int i=index; i<a.size()-1; ++i)
-      a[i]=a[i+1];
-   a.pop_back();
-}
-
-//============================================================================
-// Dynamic compressed sparse row matrix.
-
-template<class T>
-struct SparseMatrix
-{
-   int n; // dimension
-   std::vector<std::vector<int> > index; // for each row, a list of all column indices (sorted)
-   std::vector<std::vector<T> > value; // values corresponding to index
-
-   explicit SparseMatrix(int n_=0, int expected_nonzeros_per_row=7)
-      : n(n_), index(n_), value(n_)
-   {
-      for(int i=0; i<n; ++i){
-         index[i].reserve(expected_nonzeros_per_row);
-         value[i].reserve(expected_nonzeros_per_row);
-      }
-   }
-
-   void clear(void)
-   {
-      n=0;
-      index.clear();
-      value.clear();
-   }
-
-   void zero(void)
-   {
-      for(int i=0; i<n; ++i){
-         index[i].resize(0);
-         value[i].resize(0);
-      }
-   }
-
-   void resize(int n_)
-   {
-      n=n_;
-      index.resize(n);
-      value.resize(n);
-   }
-
-   T operator()(int i, int j) const
-   {
-      for(int k=0; k<(int)index[i].size(); ++k){
-         if(index[i][k]==j) return value[i][k];
-         else if(index[i][k]>j) return 0;
-      }
-      return 0;
-   }
-
-   void set_element(int i, int j, T new_value)
-   {
-      int k=0;
-      for(; k<(int)index[i].size(); ++k){
-         if(index[i][k]==j){
-            value[i][k]=new_value;
-            return;
-         }else if(index[i][k]>j){
-            insert(index[i], k, j);
-            insert(value[i], k, new_value);
-            return;
-         }
-      }
-      index[i].push_back(j);
-      value[i].push_back(new_value);
-   }
-
-   void add_to_element(int i, int j, T increment_value)
-   {
-      int k=0;
-      for(; k<(int)index[i].size(); ++k){
-         if(index[i][k]==j){
-            value[i][k]+=increment_value;
-            return;
-         }else if(index[i][k]>j){
-            insert(index[i], k, j);
-            insert(value[i], k, increment_value);
-            return;
-         }
-      }
-      index[i].push_back(j);
-      value[i].push_back(increment_value);
-   }
-
-   // assumes indices is already sorted
-   void add_sparse_row(int i, const std::vector<int> &indices, const std::vector<T> &values)
-   {
-      int j=0, k=0;
-      while(j<indices.size() && k<(int)index[i].size()){
-         if(index[i][k]<indices[j]){
-            ++k;
-         }else if(index[i][k]>indices[j]){
-            insert(index[i], k, indices[j]);
-            insert(value[i], k, values[j]);
-            ++j;
-         }else{
-            value[i][k]+=values[j];
-            ++j;
-            ++k;
-         }
-      }
-      for(;j<indices.size(); ++j){
-         index[i].push_back(indices[j]);
-         value[i].push_back(values[j]);
-      }
-   }
-
-   // assumes matrix has symmetric structure - so the indices in row i tell us which columns to delete i from
-   void symmetric_remove_row_and_column(int i)
-   {
-      for(int a=0; a<index[i].size(); ++a){
-         int j=index[i][a]; // 
-         for(int b=0; b<index[j].size(); ++b){
-            if(index[j][b]==i){
-               erase(index[j], b);
-               erase(value[j], b);
-               break;
-            }
-         }
-      }
-      index[i].resize(0);
-      value[i].resize(0);
-   }
-
-   void write_matlab(std::ostream &output, const char *variable_name)
-   {
-      output<<variable_name<<"=sparse([";
-      for(int i=0; i<n; ++i){
-         for(int j=0; j<index[i].size(); ++j){
-            output<<i+1<<" ";
-         }
-      }
-      output<<"],...\n  [";
-      for(int i=0; i<n; ++i){
-         for(int j=0; j<index[i].size(); ++j){
-            output<<index[i][j]+1<<" ";
-         }
-      }
-      output<<"],...\n  [";
-      for(int i=0; i<n; ++i){
-         for(int j=0; j<value[i].size(); ++j){
-            output<<value[i][j]<<" ";
-         }
-      }
-      output<<"], "<<n<<", "<<n<<");"<<std::endl;
-   }
-};
-
-typedef SparseMatrix<float> SparseMatrixf;
-typedef SparseMatrix<double> SparseMatrixd;
-
-// perform result=matrix*x
-template<class T>
-void multiply(const SparseMatrix<T> &matrix, const std::vector<T> &x, std::vector<T> &result)
-{
-   assert(matrix.n==x.size());
-   result.resize(matrix.n);
-   //for(int i=0; i<matrix.n; ++i)
-	parallel_for(matrix.n) {
-		unsigned i (parallel_index);
-		T value=0;
-		for(int j=0; j<(int)matrix.index[i].size(); ++j){
-			value+=matrix.value[i][j]*x[matrix.index[i][j]];
-		}
-		result[i]=value;
-	} parallel_end
-}
-
-// perform result=result-matrix*x
-template<class T>
-void multiply_and_subtract(const SparseMatrix<T> &matrix, const std::vector<T> &x, std::vector<T> &result)
-{
-   assert(matrix.n==x.size());
-   result.resize(matrix.n);
-   for(int i=0; i<(int)matrix.n; ++i){
-      for(int j=0; j<(int)matrix.index[i].size(); ++j){
-         result[i]-=matrix.value[i][j]*x[matrix.index[i][j]];
-      }
-   }
-}
-
-//============================================================================
-// Fixed version of SparseMatrix. This is not a good structure for dynamically
-// modifying the matrix, but can be significantly faster for matrix-vector
-// multiplies due to better data locality.
-
-template<class T>
-struct FixedSparseMatrix
-{
-   int n; // dimension
-   std::vector<T> value; // nonzero values row by row
-   std::vector<int> colindex; // corresponding column indices
-   std::vector<int> rowstart; // where each row starts in value and colindex (and last entry is one past the end, the number of nonzeros)
-
-   explicit FixedSparseMatrix(int n_=0)
-      : n(n_), value(0), colindex(0), rowstart(n_+1)
-   {}
-
-   void clear(void)
-   {
-      n=0;
-      value.clear();
-      colindex.clear();
-      rowstart.clear();
-   }
-
-   void resize(int n_)
-   {
-      n=n_;
-      rowstart.resize(n+1);
-   }
-
-   void construct_from_matrix(const SparseMatrix<T> &matrix)
-   {
-      resize(matrix.n);
-      rowstart[0]=0;
-      for(int i=0; i<n; ++i){
-         rowstart[i+1]=rowstart[i]+matrix.index[i].size();
-      }
-      value.resize(rowstart[n]);
-      colindex.resize(rowstart[n]);
-      int j=0;
-      for(int i=0; i<n; ++i){
-         for(int k=0; k<(int)matrix.index[i].size(); ++k){
-            value[j]=matrix.value[i][k];
-            colindex[j]=matrix.index[i][k];
-            ++j;
-         }
-      }
-   }
-
-   void write_matlab(std::ostream &output, const char *variable_name)
-   {
-      output<<variable_name<<"=sparse([";
-      for(int i=0; i<n; ++i){
-         for(int j=rowstart[i]; j<rowstart[i+1]; ++j){
-            output<<i+1<<" ";
-         }
-      }
-      output<<"],...\n  [";
-      for(int i=0; i<n; ++i){
-         for(int j=rowstart[i]; j<rowstart[i+1]; ++j){
-            output<<colindex[j]+1<<" ";
-         }
-      }
-      output<<"],...\n  [";
-      for(int i=0; i<n; ++i){
-         for(int j=rowstart[i]; j<rowstart[i+1]; ++j){
-            output<<value[j]<<" ";
-         }
-      }
-      output<<"], "<<n<<", "<<n<<");"<<std::endl;
-   }
-};
-
-
-// perform result=matrix*x
-template<class T>
-void multiply(const FixedSparseMatrix<T> &matrix, const std::vector<T> &x, std::vector<T> &result)
-{
-   assert(matrix.n==x.size());
-   result.resize(matrix.n);
-   //for(int i=0; i<matrix.n; ++i)
-	parallel_for(matrix.n) {
-		unsigned i (parallel_index);
-		T value=0;
-		for(int j=matrix.rowstart[i]; j<matrix.rowstart[i+1]; ++j){
-			value+=matrix.value[j]*x[matrix.colindex[j]];
-		}
-		result[i]=value;
-	} parallel_end
-}
-
-// perform result=result-matrix*x
-template<class T>
-void multiply_and_subtract(const FixedSparseMatrix<T> &matrix, const std::vector<T> &x, std::vector<T> &result)
-{
-   assert(matrix.n==x.size());
-   result.resize(matrix.n);
-   for(int i=0; i<matrix.n; ++i){
-      for(int j=matrix.rowstart[i]; j<matrix.rowstart[i+1]; ++j){
-         result[i]-=matrix.value[j]*x[matrix.colindex[j]];
-      }
-   }
-}
-
-//============================================================================
-// A simple compressed sparse column data structure (with separate diagonal)
-// for lower triangular matrices
-
-template<class T>
-struct SparseColumnLowerFactor
-{
-   int n;
-   std::vector<T> invdiag; // reciprocals of diagonal elements
-   std::vector<T> value; // values below the diagonal, listed column by column
-   std::vector<int> rowindex; // a list of all row indices, for each column in turn
-   std::vector<int> colstart; // where each column begins in rowindex (plus an extra entry at the end, of #nonzeros)
-   std::vector<T> adiag; // just used in factorization: minimum "safe" diagonal entry allowed
-
-   explicit SparseColumnLowerFactor(int n_=0)
-      : n(n_), invdiag(n_), colstart(n_+1), adiag(n_)
-   {}
-
-   void clear(void)
-   {
-      n=0;
-      invdiag.clear();
-      value.clear();
-      rowindex.clear();
-      colstart.clear();
-      adiag.clear();
-   }
-
-   void resize(int n_)
-   {
-      n=n_;
-      invdiag.resize(n);
-      colstart.resize(n+1);
-      adiag.resize(n);
-   }
-
-   void write_matlab(std::ostream &output, const char *variable_name)
-   {
-      output<<variable_name<<"=sparse([";
-      for(int i=0; i<n; ++i){
-         output<<" "<<i+1;
-         for(int j=colstart[i]; j<colstart[i+1]; ++j){
-            output<<" "<<rowindex[j]+1;
-         }
-      }
-      output<<"],...\n  [";
-      for(int i=0; i<n; ++i){
-         output<<" "<<i+1;
-         for(int j=colstart[i]; j<colstart[i+1]; ++j){
-            output<<" "<<i+1;
-         }
-      }
-      output<<"],...\n  [";
-      for(int i=0; i<n; ++i){
-         output<<" "<<(invdiag[i]!=0 ? 1/invdiag[i] : 0);
-         for(int j=colstart[i]; j<colstart[i+1]; ++j){
-            output<<" "<<value[j];
-         }
-      }
-      output<<"], "<<n<<", "<<n<<");"<<std::endl;
-   }
-};
-
-//============================================================================
-// Incomplete Cholesky factorization, level zero, with option for modified version.
-// Set modification_parameter between zero (regular incomplete Cholesky) and
-// one (fully modified version), with values close to one usually giving the best
-// results. The min_diagonal_ratio parameter is used to detect and correct
-// problems in factorization: if a pivot is this much less than the diagonal
-// entry from the original matrix, the original matrix entry is used instead.
-
-template<class T>
-void factor_modified_incomplete_cholesky0(const SparseMatrix<T> &matrix, SparseColumnLowerFactor<T> &factor,
-                                          T modification_parameter=0.97, T min_diagonal_ratio=0.25)
-{
-   // first copy lower triangle of matrix into factor (Note: assuming A is symmetric of course!)
-   factor.resize(matrix.n);
-   zero(factor.invdiag); // important: eliminate old values from previous solves!
-   factor.value.resize(0);
-   factor.rowindex.resize(0);
-   zero(factor.adiag);
-   for(int i=0; i<matrix.n; ++i){
-      factor.colstart[i]=(int)factor.rowindex.size();
-      for(int j=0; j<(int)matrix.index[i].size(); ++j){
-         if(matrix.index[i][j]>i){
-            factor.rowindex.push_back(matrix.index[i][j]);
-            factor.value.push_back(matrix.value[i][j]);
-         }else if(matrix.index[i][j]==i){
-            factor.invdiag[i]=factor.adiag[i]=matrix.value[i][j];
-         }
-      }
-   }
-   factor.colstart[matrix.n]=(int)factor.rowindex.size();
-   // now do the incomplete factorization (figure out numerical values)
-
-   // MATLAB code:
-   // L=tril(A);
-   // for k=1:size(L,2)
-   //   L(k,k)=sqrt(L(k,k));
-   //   L(k+1:end,k)=L(k+1:end,k)/L(k,k);
-   //   for j=find(L(:,k))'
-   //     if j>k
-   //       fullupdate=L(:,k)*L(j,k);
-   //       incompleteupdate=fullupdate.*(A(:,j)~=0);
-   //       missing=sum(fullupdate-incompleteupdate);
-   //       L(j:end,j)=L(j:end,j)-incompleteupdate(j:end);
-   //       L(j,j)=L(j,j)-omega*missing;
-   //     end
-   //   end
-   // end
-
-   for(int k=0; k<matrix.n; ++k){
-      if(factor.adiag[k]==0) continue; // null row/column
-      // figure out the final L(k,k) entry
-      if(factor.invdiag[k]<min_diagonal_ratio*factor.adiag[k])
-         factor.invdiag[k]=1/sqrt(factor.adiag[k]); // drop to Gauss-Seidel here if the pivot looks dangerously small
-      else
-         factor.invdiag[k]=1/sqrt(factor.invdiag[k]);
-      // finalize the k'th column L(:,k)
-      for(int p=factor.colstart[k]; p<factor.colstart[k+1]; ++p){
-         factor.value[p]*=factor.invdiag[k];
-      }
-      // incompletely eliminate L(:,k) from future columns, modifying diagonals
-      for(int p=factor.colstart[k]; p<factor.colstart[k+1]; ++p){
-         int j=factor.rowindex[p]; // work on column j
-         T multiplier=factor.value[p];
-         T missing=0;
-         int a=factor.colstart[k];
-         // first look for contributions to missing from dropped entries above the diagonal in column j
-         int b=0;
-         while(a<factor.colstart[k+1] && factor.rowindex[a]<j){
-            // look for factor.rowindex[a] in matrix.index[j] starting at b
-            while(b<(int)matrix.index[j].size()){
-               if(matrix.index[j][b]<factor.rowindex[a])
-                  ++b;
-               else if(matrix.index[j][b]==factor.rowindex[a])
-                  break;
-               else{
-                  missing+=factor.value[a];
-                  break;
-               }
-            }
-            ++a;
-         }
-         // adjust the diagonal j,j entry
-         if(a<factor.colstart[k+1] && factor.rowindex[a]==j){
-            factor.invdiag[j]-=multiplier*factor.value[a];
-         }
-         ++a;
-         // and now eliminate from the nonzero entries below the diagonal in column j (or add to missing if we can't)
-         b=factor.colstart[j];
-         while(a<factor.colstart[k+1] && b<factor.colstart[j+1]){
-            if(factor.rowindex[b]<factor.rowindex[a])
-               ++b;
-            else if(factor.rowindex[b]==factor.rowindex[a]){
-               factor.value[b]-=multiplier*factor.value[a];
-               ++a;
-               ++b;
-            }else{
-               missing+=factor.value[a];
-               ++a;
-            }
-         }
-         // and if there's anything left to do, add it to missing
-         while(a<factor.colstart[k+1]){
-            missing+=factor.value[a];
-            ++a;
-         }
-         // and do the final diagonal adjustment from the missing entries
-         factor.invdiag[j]-=modification_parameter*multiplier*missing;
-      }
-   }
-}
-
-//============================================================================
-// Solution routines with lower triangular matrix.
-
-// solve L*result=rhs
-template<class T>
-void solve_lower(const SparseColumnLowerFactor<T> &factor, const std::vector<T> &rhs, std::vector<T> &result)
-{
-   assert(factor.n==rhs.size());
-   assert(factor.n==result.size());
-   result=rhs;
-   for(int i=0; i<factor.n; ++i){
-      result[i]*=factor.invdiag[i];
-      for(int j=factor.colstart[i]; j<factor.colstart[i+1]; ++j){
-         result[factor.rowindex[j]]-=factor.value[j]*result[i];
-      }
-   }
-}
-
-// solve L^T*result=rhs
-template<class T>
-void solve_lower_transpose_in_place(const SparseColumnLowerFactor<T> &factor, std::vector<T> &x)
-{
-   assert(factor.n==(int)x.size());
-   assert(factor.n>0);
-   int i=factor.n;
-   do{
-      --i;
-      for(int j=factor.colstart[i]; j<factor.colstart[i+1]; ++j){
-         x[i]-=factor.value[j]*x[factor.rowindex[j]];
-      }
-      x[i]*=factor.invdiag[i];
-   }while(i!=0);
-}
-
-//============================================================================
-// Encapsulates the Conjugate Gradient algorithm with incomplete Cholesky
-// factorization preconditioner.
-
-template <class T>
-struct SparsePCGSolver
-{
-   SparsePCGSolver(void)
-   {
-      set_solver_parameters(1e-5, 100, 0.97, 0.25);
-   }
-
-   void set_solver_parameters(T tolerance_factor_, int max_iterations_, T modified_incomplete_cholesky_parameter_=0.97, T min_diagonal_ratio_=0.25)
-   {
-      tolerance_factor=tolerance_factor_;
-      if(tolerance_factor<1e-30) tolerance_factor=1e-30;
-      max_iterations=max_iterations_;
-      modified_incomplete_cholesky_parameter=modified_incomplete_cholesky_parameter_;
-      min_diagonal_ratio=min_diagonal_ratio_;
-   }
-
-   bool solve(const SparseMatrix<T> &matrix, const std::vector<T> &rhs, std::vector<T> &result, T &relative_residual_out, int &iterations_out, int precondition=2)
-   {
-      int n=matrix.n;
-      if((int)m.size()!=n){ m.resize(n); s.resize(n); z.resize(n); r.resize(n); }
-      zero(result);
-      r=rhs;
-      double residual_out=InstantBLAS<int,T>::abs_max(r);
-      if(residual_out==0) {
-         iterations_out=0;
-         return true;
-      }
-      //double tol=tolerance_factor*residual_out; // relative residual
-      double tol=tolerance_factor;
-	  double residual_0 = residual_out;
-
-      form_preconditioner(matrix, precondition);
-      apply_preconditioner( r, z, precondition);
-      double rho=InstantBLAS<int,T>::dot(z, r);
-      if(rho==0 || rho!=rho) {
-         iterations_out=0;
-         return false;
-      }
-
-      s=z;
-      fixed_matrix.construct_from_matrix(matrix);
-      int iteration;
-      for(iteration=0; iteration<max_iterations; ++iteration){
-         multiply(fixed_matrix, s, z);
-         double alpha=rho/InstantBLAS<int,T>::dot(s, z);
-         InstantBLAS<int,T>::add_scaled(alpha, s, result);
-         InstantBLAS<int,T>::add_scaled(-alpha, z, r);
-         residual_out=InstantBLAS<int,T>::abs_max(r);
-		 relative_residual_out = residual_out / residual_0;
-         if(residual_out<=tol) {
-            iterations_out=iteration+1;
-            return true; 
-         }
-         apply_preconditioner(r, z, precondition);
-         double rho_new=InstantBLAS<int,T>::dot(z, r);
-         double beta=rho_new/rho;
-         InstantBLAS<int,T>::add_scaled(beta, s, z); s.swap(z); // s=beta*s+z
-         rho=rho_new;
-      }
-      iterations_out=iteration;
-	  relative_residual_out = residual_out / residual_0;
-      return false;
-   }
-
-   protected:
-
-   // internal structures
-   SparseColumnLowerFactor<T> ic_factor; // modified incomplete cholesky factor
-   std::vector<T> m, z, s, r; // temporary vectors for PCG
-   FixedSparseMatrix<T> fixed_matrix; // used within loop
-
-   // parameters
-   T tolerance_factor;
-   int max_iterations;
-   T modified_incomplete_cholesky_parameter;
-   T min_diagonal_ratio;
-
-   void form_preconditioner(const SparseMatrix<T>& matrix, int precondition=2)
-   {
-		if(precondition==2) {
-			// incomplete cholesky
-			factor_modified_incomplete_cholesky0(matrix, ic_factor, modified_incomplete_cholesky_parameter, min_diagonal_ratio);
-		
-		} else if(precondition==1) {
-			// diagonal
-		    ic_factor.resize(matrix.n);
-		    zero(ic_factor.invdiag);
-			for(int i=0; i<matrix.n; ++i) {
-				  for(int j=0; j<(int)matrix.index[i].size(); ++j){
-					 if(matrix.index[i][j]==i){
-						ic_factor.invdiag[i] = 1./matrix.value[i][j];
-					 }
-				  }
-			}
-		}
-   }
-
-   void apply_preconditioner(const std::vector<T> &x, std::vector<T> &result, int precondition=2)
-   {
-		if (precondition==2) {
-			// incomplete cholesky
-			solve_lower(ic_factor, x, result);
-			solve_lower_transpose_in_place(ic_factor,result);
-		} else if(precondition==1) {
-			// diagonal
-			for(int_index i=0; i<(int_index)result.size(); ++i) {
-				result[i] = x[i] * ic_factor.invdiag[i];
-		    }
-		} else {
-			// off
-			result = x;
-		}
-   }
-};
-
-
-
-#undef parallel_for
-#undef parallel_end             
-#undef int_index
-
-#undef parallel_block 
-#undef do_parallel 
-#undef do_end
-#undef block_end
-
-#endif

Simulations/util/vector4d.h

@@ -14,29 +14,29 @@ namespace GamePhysics
 
 // basic inlined vector class
 template<class Scalar>
-class vector4Dim
+class ntlVector4Dim
 {
 public:
 	//! Constructor
-	inline vector4Dim() : x(0),y(0),z(0),t(0) {}
+	inline ntlVector4Dim() : x(0),y(0),z(0),t(0) {}
 	
 	//! Copy-Constructor
-	inline vector4Dim ( const vector4Dim<Scalar> &v ) : x(v.x), y(v.y), z(v.z),t(v.t) {}
+	inline ntlVector4Dim ( const ntlVector4Dim<Scalar> &v ) : x(v.x), y(v.y), z(v.z),t(v.t) {}
 
 	//! Copy-Constructor
-	inline vector4Dim ( const float * v) : x((Scalar)v[0]), y((Scalar)v[1]), z((Scalar)v[2]), t((Scalar)v[3]) {}
+	inline ntlVector4Dim ( const float * v) : x((Scalar)v[0]), y((Scalar)v[1]), z((Scalar)v[2]), t((Scalar)v[3]) {}
 
 	//! Copy-Constructor
-	inline vector4Dim ( const double * v) : x((Scalar)v[0]), y((Scalar)v[1]), z((Scalar)v[2]), t((Scalar)v[3]) {}
+	inline ntlVector4Dim ( const double * v) : x((Scalar)v[0]), y((Scalar)v[1]), z((Scalar)v[2]), t((Scalar)v[3]) {}
 	
 	//! Construct a vector from one Scalar
-	inline vector4Dim ( Scalar v) : x(v), y(v), z(v), t(v) {}
+	inline ntlVector4Dim ( Scalar v) : x(v), y(v), z(v), t(v) {}
 		
 	//! Construct a vector from four Ss
-	inline vector4Dim ( Scalar vx, Scalar vy, Scalar vz, Scalar vw) : x(vx), y(vy), z(vz), t(vw) {}
+	inline ntlVector4Dim ( Scalar vx, Scalar vy, Scalar vz, Scalar vw) : x(vx), y(vy), z(vz), t(vw) {}
 
 	//! Construct a vector from four Ss
-	//inline vector4Dim(DirectX::XMVECTOR &v ); // TODO CHECK!
+	//inline ntlVector4Dim(DirectX::XMVECTOR &v ); // TODO CHECK!
 	
 	// get address of array for OpenGL
 	Scalar *getAddress() { return value; }
@@ -44,7 +44,7 @@ public:
 	// Operators
 	
 	//! Assignment operator
-	inline const vector4Dim<Scalar>& operator= ( const vector4Dim<Scalar>& v ) {
+	inline const ntlVector4Dim<Scalar>& operator= ( const ntlVector4Dim<Scalar>& v ) {
 		x = v.x;
 		y = v.y;
 		z = v.z;
@@ -52,12 +52,12 @@ public:
 		return *this;
 	}
 	//! Assignment operator
-	inline const vector4Dim<Scalar>& operator= ( Scalar s ) {
+	inline const ntlVector4Dim<Scalar>& operator= ( Scalar s ) {
 		x = y = z = t = s;
 		return *this;
 	}
 	//! Assign and add operator
-	inline const vector4Dim<Scalar>& operator+= ( const vector4Dim<Scalar>& v ) {
+	inline const ntlVector4Dim<Scalar>& operator+= ( const ntlVector4Dim<Scalar>& v ) {
 		x += v.x;
 		y += v.y;
 		z += v.z;
@@ -65,7 +65,7 @@ public:
 		return *this;
 	}
 	//! Assign and add operator
-	inline const vector4Dim<Scalar>& operator+= ( Scalar s ) {
+	inline const ntlVector4Dim<Scalar>& operator+= ( Scalar s ) {
 		x += s;
 		y += s;
 		z += s;
@@ -73,7 +73,7 @@ public:
 		return *this;
 	}
 	//! Assign and sub operator
-	inline const vector4Dim<Scalar>& operator-= ( const vector4Dim<Scalar>& v ) {
+	inline const ntlVector4Dim<Scalar>& operator-= ( const ntlVector4Dim<Scalar>& v ) {
 		x -= v.x;
 		y -= v.y;
 		z -= v.z;
@@ -81,7 +81,7 @@ public:
 		return *this;
 	}
 	//! Assign and sub operator
-	inline const vector4Dim<Scalar>& operator-= ( Scalar s ) {
+	inline const ntlVector4Dim<Scalar>& operator-= ( Scalar s ) {
 		x -= s;
 		y -= s;
 		z -= s;
@@ -89,7 +89,7 @@ public:
 		return *this;
 	}
 	//! Assign and mult operator
-	inline const vector4Dim<Scalar>& operator*= ( const vector4Dim<Scalar>& v ) {
+	inline const ntlVector4Dim<Scalar>& operator*= ( const ntlVector4Dim<Scalar>& v ) {
 		x *= v.x;
 		y *= v.y;
 		z *= v.z;
@@ -97,7 +97,7 @@ public:
 		return *this;
 	}
 	//! Assign and mult operator
-	inline const vector4Dim<Scalar>& operator*= ( Scalar s ) {
+	inline const ntlVector4Dim<Scalar>& operator*= ( Scalar s ) {
 		x *= s;
 		y *= s;
 		z *= s;
@@ -105,7 +105,7 @@ public:
 		return *this;
 	}
 	//! Assign and div operator
-	inline const vector4Dim<Scalar>& operator/= ( const vector4Dim<Scalar>& v ) {
+	inline const ntlVector4Dim<Scalar>& operator/= ( const ntlVector4Dim<Scalar>& v ) {
 		x /= v.x;
 		y /= v.y;
 		z /= v.z;
@@ -113,7 +113,7 @@ public:
 		return *this;        
 	}
 	//! Assign and div operator
-	inline const vector4Dim<Scalar>& operator/= ( Scalar s ) {        
+	inline const ntlVector4Dim<Scalar>& operator/= ( Scalar s ) {        
 		x /= s;
 		y /= s;
 		z /= s;
@@ -121,29 +121,29 @@ public:
 		return *this;        
 	}
 	
-	inline void safeDivide (const vector4Dim<Scalar>& v);
+	inline void safeDivide (const ntlVector4Dim<Scalar>& v);
 	
 	//! Negation operator
-	inline vector4Dim<Scalar> operator- () const {
+	inline ntlVector4Dim<Scalar> operator- () const {
-		return vector4Dim<Scalar> (-x, -y, -z, -t);        
+		return ntlVector4Dim<Scalar> (-x, -y, -z, -t);        
 	}
 	
 	// binary operator add
-	inline vector4Dim<Scalar> operator+ (const vector4Dim<Scalar>&) const;
+	inline ntlVector4Dim<Scalar> operator+ (const ntlVector4Dim<Scalar>&) const;
 	// binary operator add
-	inline vector4Dim<Scalar> operator+ (Scalar) const;
+	inline ntlVector4Dim<Scalar> operator+ (Scalar) const;
 	// binary operator sub
-	inline vector4Dim<Scalar> operator- (const vector4Dim<Scalar>&) const;
+	inline ntlVector4Dim<Scalar> operator- (const ntlVector4Dim<Scalar>&) const;
 	// binary operator sub
-	inline vector4Dim<Scalar> operator- (Scalar) const;
+	inline ntlVector4Dim<Scalar> operator- (Scalar) const;
 	// binary operator mult
-	inline vector4Dim<Scalar> operator* (const vector4Dim<Scalar>&) const;
+	inline ntlVector4Dim<Scalar> operator* (const ntlVector4Dim<Scalar>&) const;
 	// binary operator mult
-	inline vector4Dim<Scalar> operator* (Scalar) const;
+	inline ntlVector4Dim<Scalar> operator* (Scalar) const;
 	// binary operator div
-	inline vector4Dim<Scalar> operator/ (const vector4Dim<Scalar>&) const;
+	inline ntlVector4Dim<Scalar> operator/ (const ntlVector4Dim<Scalar>&) const;
 	// binary operator div
-	inline vector4Dim<Scalar> operator/ (Scalar) const;
+	inline ntlVector4Dim<Scalar> operator/ (Scalar) const;
 	
 	//! Get smallest component 
 	//inline Scalar min() const { return ( x<y ) ? ( ( x<z ) ? x:z ) : ( ( y<z ) ? y:z ); // todo t!!}
@@ -185,7 +185,7 @@ public:
 	};
 
 	// zero element
-	static const vector4Dim<Scalar> ZERO;
+	static const ntlVector4Dim<Scalar> ZERO;
 	
 protected:
 
@@ -196,9 +196,9 @@ protected:
 //************************************************************************
 //! Addition operator
 template<class Scalar> 
-inline vector4Dim<Scalar> vector4Dim<Scalar>::operator+ ( const vector4Dim<Scalar> &v) const
+inline ntlVector4Dim<Scalar> ntlVector4Dim<Scalar>::operator+ ( const ntlVector4Dim<Scalar> &v) const
 {
-	return vector4Dim<Scalar> (value[0]+v.value[0],
+	return ntlVector4Dim<Scalar> (value[0]+v.value[0],
 			value[1]+v.value[1],
 			value[2]+v.value[2],
 			value[3]+v.value[3]);
@@ -206,42 +206,42 @@ inline vector4Dim<Scalar> vector4Dim<Scalar>::operator+ ( const vector4Dim<Scala
 
 //! Addition operator
 template<class Scalar>
-inline vector4Dim<Scalar>
+inline ntlVector4Dim<Scalar>
-vector4Dim<Scalar>::operator+(Scalar s) const
+ntlVector4Dim<Scalar>::operator+(Scalar s) const
 {
-  return vector4Dim<Scalar>(value[0]+s,
+  return ntlVector4Dim<Scalar>(value[0]+s,
 			value[1]+s,
 			value[2]+s,
 			value[3]+s);
 }
 
 template<class Scalar>
-inline vector4Dim<Scalar> 
+inline ntlVector4Dim<Scalar> 
-operator+(float s, vector4Dim<Scalar> v) 
+operator+(float s, ntlVector4Dim<Scalar> v) 
 {
   return v + s;
 }
 
 template<class Scalar>
-inline vector4Dim<Scalar> 
+inline ntlVector4Dim<Scalar> 
-operator+(double s, vector4Dim<Scalar> v) 
+operator+(double s, ntlVector4Dim<Scalar> v) 
 {
   return v + s;
 }
 
 template<class Scalar>
-inline vector4Dim<Scalar> 
+inline ntlVector4Dim<Scalar> 
-operator+(int s, vector4Dim<Scalar> v) 
+operator+(int s, ntlVector4Dim<Scalar> v) 
 {
   return v + s;
 }
 
 //! Subtraction operator
 template<class Scalar>
-inline vector4Dim<Scalar>
+inline ntlVector4Dim<Scalar>
-vector4Dim<Scalar>::operator-( const vector4Dim<Scalar> &v ) const
+ntlVector4Dim<Scalar>::operator-( const ntlVector4Dim<Scalar> &v ) const
 {
-  return vector4Dim<Scalar>(value[0]-v.value[0],
+  return ntlVector4Dim<Scalar>(value[0]-v.value[0],
 			value[1]-v.value[1],
 			value[2]-v.value[2],
 			value[3]-v.value[3]);
@@ -249,10 +249,10 @@ vector4Dim<Scalar>::operator-( const vector4Dim<Scalar> &v ) const
 
 //! Subtraction operator
 template<class Scalar>
-inline vector4Dim<Scalar>
+inline ntlVector4Dim<Scalar>
-vector4Dim<Scalar>::operator-(Scalar s ) const
+ntlVector4Dim<Scalar>::operator-(Scalar s ) const
 {
-  return vector4Dim<Scalar>(value[0]-s,
+  return ntlVector4Dim<Scalar>(value[0]-s,
 			value[1]-s,
 			value[2]-s,
 			value[3]-s,);
@@ -260,50 +260,50 @@ vector4Dim<Scalar>::operator-(Scalar s ) const
 
 //! Multiplication operator
 template<class Scalar>
-inline vector4Dim<Scalar> 
+inline ntlVector4Dim<Scalar> 
-vector4Dim<Scalar>::operator* ( const vector4Dim<Scalar>& v ) const
+ntlVector4Dim<Scalar>::operator* ( const ntlVector4Dim<Scalar>& v ) const
 {
-	 return vector4Dim<Scalar>(value[0]*v.value[0],
+	 return ntlVector4Dim<Scalar>(value[0]*v.value[0],
 			value[1]*v.value[1],
 			value[2]*v.value[2],
 			value[3]*v.value[3]);
 }
 //! Multiplication operator
 template<class Scalar>
-inline vector4Dim<Scalar>
+inline ntlVector4Dim<Scalar>
-vector4Dim<Scalar>::operator* (Scalar s) const
+ntlVector4Dim<Scalar>::operator* (Scalar s) const
 {
-	return vector4Dim<Scalar>(value[0]*s, value[1]*s, value[2]*s, value[3]*s);
+	return ntlVector4Dim<Scalar>(value[0]*s, value[1]*s, value[2]*s, value[3]*s);
 }
 
 //! Multiplication operator
 template<class Scalar> 
-inline vector4Dim<Scalar>
+inline ntlVector4Dim<Scalar>
-operator* (float s, vector4Dim<Scalar> v) 
+operator* (float s, ntlVector4Dim<Scalar> v) 
 {
   return v * s;
 }
 
 template<class Scalar>
-inline vector4Dim<Scalar> 
+inline ntlVector4Dim<Scalar> 
-operator*(double s, vector4Dim<Scalar> v) 
+operator*(double s, ntlVector4Dim<Scalar> v) 
 {
   return v * s;
 }
 
 template<class Scalar>
-inline vector4Dim<Scalar> 
+inline ntlVector4Dim<Scalar> 
-operator*(int s, vector4Dim<Scalar> v) 
+operator*(int s, ntlVector4Dim<Scalar> v) 
 {
   return v * s;
 }
 
 //! Division operator
 template<class Scalar>
-inline vector4Dim<Scalar>
+inline ntlVector4Dim<Scalar>
-vector4Dim<Scalar>::operator/ (const vector4Dim<Scalar> & v) const
+ntlVector4Dim<Scalar>::operator/ (const ntlVector4Dim<Scalar> & v) const
 {
-	return vector4Dim<Scalar> (value[0]/v.value[0],
+	return ntlVector4Dim<Scalar> (value[0]/v.value[0],
 			value[1]/v.value[1],
 			value[2]/v.value[2],
 			value[3]/v.value[3]);
@@ -311,10 +311,10 @@ vector4Dim<Scalar>::operator/ (const vector4Dim<Scalar> & v) const
 
 //! Division operator
 template<class Scalar>
-inline vector4Dim<Scalar>
+inline ntlVector4Dim<Scalar>
-vector4Dim<Scalar>::operator / (Scalar s) const
+ntlVector4Dim<Scalar>::operator / (Scalar s) const
 {
-	return vector4Dim<Scalar> (value[0]/s,
+	return ntlVector4Dim<Scalar> (value[0]/s,
 			value[1]/s,
 			value[2]/s,
 			value[3]/s);
@@ -322,7 +322,7 @@ vector4Dim<Scalar>::operator / (Scalar s) const
 
 //! Safe divide
 template<class Scalar>
-inline void vector4Dim<Scalar>::safeDivide( const vector4Dim<Scalar> &v )
+inline void ntlVector4Dim<Scalar>::safeDivide( const ntlVector4Dim<Scalar> &v )
 {
   value[0] = (v.value[0]!=0) ? (value[0] / v.value[0]) : 0;
   value[1] = (v.value[1]!=0) ? (value[1] / v.value[1]) : 0;
@@ -336,14 +336,14 @@ inline void vector4Dim<Scalar>::safeDivide( const vector4Dim<Scalar> &v )
 
 //! Dot product
 template<class Scalar>
-inline Scalar dot ( const vector4Dim<Scalar> &t, const vector4Dim<Scalar> &v ) {
+inline Scalar dot ( const ntlVector4Dim<Scalar> &t, const ntlVector4Dim<Scalar> &v ) {
 	return t.x*v.x + t.y*v.y + t.z*v.z + t.t*v.t;    
 }
 
 //! Cross product
 /*template<class Scalar>
-inline vector4Dim<Scalar> cross ( const vector4Dim<Scalar> &t, const vector4Dim<Scalar> &v ) {
+inline ntlVector4Dim<Scalar> cross ( const ntlVector4Dim<Scalar> &t, const ntlVector4Dim<Scalar> &v ) {
-	NYI vector4Dim<Scalar> cp (
+	NYI ntlVector4Dim<Scalar> cp (
 		( ( t.y*v.z ) - ( t.z*v.y ) ),
 		( ( t.z*v.x ) - ( t.x*v.z ) ),
 		( ( t.x*v.y ) - ( t.y*v.x ) ) );
@@ -353,36 +353,36 @@ inline vector4Dim<Scalar> cross ( const vector4Dim<Scalar> &t, const vector4Dim<
 
 //! Compute the magnitude (length) of the vector
 template<class Scalar>
-inline Scalar norm ( const vector4Dim<Scalar>& v ) {
+inline Scalar norm ( const ntlVector4Dim<Scalar>& v ) {
 	Scalar l = v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t;
 	return ( fabs ( l-1. ) < VECTOR_EPSILON*VECTOR_EPSILON ) ? 1. : sqrt ( l );
 }
 
 //! Compute squared magnitude
 template<class Scalar>
-inline Scalar normSquare ( const vector4Dim<Scalar>& v ) {
+inline Scalar normSquare ( const ntlVector4Dim<Scalar>& v ) {
 	return v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t;
 }
 
 //! Returns a normalized vector
 template<class Scalar>
-inline vector4Dim<Scalar> getNormalized ( const vector4Dim<Scalar>& v ) {
+inline ntlVector4Dim<Scalar> getNormalized ( const ntlVector4Dim<Scalar>& v ) {
 	Scalar l = v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t;
 	if ( fabs ( l-1. ) < VECTOR_EPSILON*VECTOR_EPSILON )
 		return v; /* normalized "enough"... */
 	else if ( l > VECTOR_EPSILON*VECTOR_EPSILON )
 	{
 		Scalar fac = 1./sqrt ( l );
-		return vector4Dim<Scalar> ( v.x*fac, v.y*fac, v.z*fac , v.t*fac );
+		return ntlVector4Dim<Scalar> ( v.x*fac, v.y*fac, v.z*fac , v.t*fac );
 	}
 	else
-		return vector4Dim<Scalar> ( ( Scalar ) 0 );
+		return ntlVector4Dim<Scalar> ( ( Scalar ) 0 );
 }
 
 //! Compute the norm of the vector and normalize it.
 /*! \return The value of the norm */
 template<class Scalar>
-inline Scalar normalize ( vector4Dim<Scalar> &v ) {
+inline Scalar normalize ( ntlVector4Dim<Scalar> &v ) {
 	Scalar norm;
 	Scalar l = v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t;
 	if ( fabs ( l-1. ) < VECTOR_EPSILON*VECTOR_EPSILON ) {
@@ -391,14 +391,14 @@ inline Scalar normalize ( vector4Dim<Scalar> &v ) {
 		norm = sqrt ( l );
 		v *= 1./norm;        
 	} else {
-		v = vector4Dim<Scalar>::ZERO;
+		v = ntlVector4Dim<Scalar>::ZERO;
 		norm = 0.;
 	}
 	return ( Scalar ) norm;
 }
 
 template<class Scalar>
-inline bool equal(const vector4Dim<Scalar> &v, const vector4Dim<Scalar> &c)
+inline bool equal(const ntlVector4Dim<Scalar> &v, const ntlVector4Dim<Scalar> &c)
 {
   return (ABS(v[0]-c[0]) + 
 	  ABS(v[1]-c[1]) + 
@@ -407,7 +407,7 @@ inline bool equal(const vector4Dim<Scalar> &v, const vector4Dim<Scalar> &c)
 }
 
 //! Outputs the object in human readable form as string
-template<class Scalar> std::string vector4Dim<Scalar>::toString() const {
+template<class Scalar> std::string ntlVector4Dim<Scalar>::toString() const {
 	char buf[256];
 	snprintf ( buf,256,"<%f,%f,%f,%f>", ( double ) ( *this ) [0], ( double ) ( *this ) [1], ( double ) ( *this ) [2] , ( double ) ( *this ) [3] );
 	return std::string ( buf );
@@ -415,7 +415,7 @@ template<class Scalar> std::string vector4Dim<Scalar>::toString() const {
 
 //! Outputs the object in human readable form to stream
 template<class Scalar>
-std::ostream& operator<< ( std::ostream& os, const vector4Dim<Scalar>& i ) {
+std::ostream& operator<< ( std::ostream& os, const ntlVector4Dim<Scalar>& i ) {
 	char buf[256];
 	snprintf ( buf,256,"[%d,%d,%d,%d]", (double) i[0], (double) i[1], (double) i[2] , (double) i[3] );
 	os << std::string ( buf );
@@ -424,7 +424,7 @@ std::ostream& operator<< ( std::ostream& os, const vector4Dim<Scalar>& i ) {
 
 //! Reads the contents of the object from a stream 
 template<class Scalar>
-std::istream& operator>> ( std::istream& is, vector4Dim<Scalar>& i ) {
+std::istream& operator>> ( std::istream& is, ntlVector4Dim<Scalar>& i ) {
 	char c;
 	char dummy[4];
 	is >> c >> i[0] >> dummy >> i[1] >> dummy >> i[2] >> dummy >> i[3] >> c;
@@ -436,16 +436,16 @@ std::istream& operator>> ( std::istream& is, vector4Dim<Scalar>& i ) {
 /**************************************************************************/
 
 //! 3D vector class of type Real (typically float)
-typedef vector4Dim<Real>  Vec4;
+typedef ntlVector4Dim<Real>  Vec4;
 
 // a 3D vector with double precision
-typedef vector4Dim<double>  nVec4d; 
+typedef ntlVector4Dim<double>  nVec4d; 
 
 // a 3D vector with single precision
-typedef vector4Dim<float>   nVec4f; 
+typedef ntlVector4Dim<float>   nVec4f; 
 
 //! 3D vector class of type int
-typedef vector4Dim<int>  nVec4i;
+typedef ntlVector4Dim<int>  nVec4i;
 
 /* convert int,float and double vectors */
 template<class T> inline nVec4i vec42I(T v) { return nVec4i((int)v[0],(int)v[1],(int)v[2],(int)v[3]); }

Simulations/vectorbase.h

@@ -1,611 +0,0 @@
-/******************************************************************************
- *
- * MantaFlow fluid solver framework
- * Copyright 2011-2016 Tobias Pfaff, Nils Thuerey 
- *
- * This program is free software, distributed under the terms of the
- * GNU General Public License (GPL) 
- * http://www.gnu.org/licenses
- *
- * Basic vector class
- *
- ******************************************************************************/
-
-#ifndef _VECTORBASE_H
-#define _VECTORBASE_H
-
-// get rid of windos min/max defines
-#if defined(WIN32) || defined(_WIN32)
-#	define NOMINMAX
-#endif
-
-#include <stdio.h>
-#include <string>
-#include <limits>
-#include <iostream>
-#include "general.h"
-
-// if min/max are still around...
-#if defined(WIN32) || defined(_WIN32)
-#   undef min
-#   undef max
-#endif
-
-// redefine usage of some windows functions
-#if defined(WIN32) || defined(_WIN32)
-#	ifndef snprintf 
-#	define snprintf _snprintf
-#	endif
-#endif
-
-// use which fp-precision? 1=float, 2=double
-#ifndef FLOATINGPOINT_PRECISION
-#   define FLOATINGPOINT_PRECISION 1
-#endif
-
-// VECTOR_EPSILON is the minimal vector length
-// In order to be able to discriminate floating point values near zero, and
-// to be sure not to fail a comparison because of roundoff errors, use this
-// value as a threshold.
-#if FLOATINGPOINT_PRECISION==1
-	typedef float Real;
-#   define VECTOR_EPSILON (1e-6f)
-#else
-	typedef double Real;
-#   define VECTOR_EPSILON (1e-10)
-#endif
-
-#ifndef M_PI
-#   define M_PI 3.1415926536
-#endif
-#ifndef M_E
-#   define M_E  2.7182818284
-#endif
-
-namespace Manta
-{
-
-//! Basic inlined vector class
-template<class S>
-class Vector3D
-{
-public:
-	//! Constructor
-	inline Vector3D() : x(0),y(0),z(0) {}
-	
-	//! Copy-Constructor
-	inline Vector3D ( const Vector3D<S> &v ) : x(v.x), y(v.y), z(v.z) {}
-
-	//! Copy-Constructor
-	inline Vector3D ( const float * v) : x((S)v[0]), y((S)v[1]), z((S)v[2]) {}
-
-	//! Copy-Constructor
-	inline Vector3D ( const double * v) : x((S)v[0]), y((S)v[1]), z((S)v[2]) {}
-	
-	//! Construct a vector from one S
-	inline Vector3D ( S v) : x(v), y(v), z(v) {}
-		
-	//! Construct a vector from three Ss
-	inline Vector3D ( S vx, S vy, S vz) : x(vx), y(vy), z(vz) {}
-
-	// Operators
-	
-	//! Assignment operator
-	inline const Vector3D<S>& operator= ( const Vector3D<S>& v ) {
-		x = v.x;
-		y = v.y;
-		z = v.z;
-		return *this;
-	}
-	//! Assignment operator
-	inline const Vector3D<S>& operator= ( S s ) {
-		x = y = z = s;
-		return *this;
-	}
-	//! Assign and add operator
-	inline const Vector3D<S>& operator+= ( const Vector3D<S>& v ) {
-		x += v.x;
-		y += v.y;
-		z += v.z;
-		return *this;
-	}
-	//! Assign and add operator
-	inline const Vector3D<S>& operator+= ( S s ) {
-		x += s;
-		y += s;
-		z += s;
-		return *this;
-	}
-	//! Assign and sub operator
-	inline const Vector3D<S>& operator-= ( const Vector3D<S>& v ) {
-		x -= v.x;
-		y -= v.y;
-		z -= v.z;
-		return *this;
-	}
-	//! Assign and sub operator
-	inline const Vector3D<S>& operator-= ( S s ) {
-		x -= s;
-		y -= s;
-		z -= s;
-		return *this;
-	}
-	//! Assign and mult operator
-	inline const Vector3D<S>& operator*= ( const Vector3D<S>& v ) {
-		x *= v.x;
-		y *= v.y;
-		z *= v.z;
-		return *this;
-	}
-	//! Assign and mult operator
-	inline const Vector3D<S>& operator*= ( S s ) {
-		x *= s;
-		y *= s;
-		z *= s;
-		return *this;
-	}
-	//! Assign and div operator
-	inline const Vector3D<S>& operator/= ( const Vector3D<S>& v ) {
-		x /= v.x;
-		y /= v.y;
-		z /= v.z;
-		return *this;        
-	}
-	//! Assign and div operator
-	inline const Vector3D<S>& operator/= ( S s ) {        
-		x /= s;
-		y /= s;
-		z /= s;
-		return *this;        
-	}
-	//! Negation operator
-	inline Vector3D<S> operator- () const {
-		return Vector3D<S> (-x, -y, -z);        
-	}
-	
-	//! Get smallest component 
-	inline S min() const {
-	return ( x<y ) ? ( ( x<z ) ? x:z ) : ( ( y<z ) ? y:z );
-	}
-	//! Get biggest component
-	inline S max() const {
-		return ( x>y ) ? ( ( x>z ) ? x:z ) : ( ( y>z ) ? y:z );
-	}
-		
-	//! Test if all components are zero
-	inline bool empty() {
-		return x==0 && y==0 && z==0;
-	}
-
-	//! access operator
-	inline S& operator[] ( unsigned int i ) { 
-		return value[i];
-	}
-	//! constant access operator
-	inline const S& operator[] ( unsigned int i ) const {
-		return value[i];
-	}
-
-	//! debug output vector to a string
-	std::string toString() const;
-	
-	//! test if nans are present
-	bool isValid() const; 
-
-	//! actual values
-	union {
-		S value[3];
-		struct {
-			S x;
-			S y;
-			S z;
-		};
-		struct {
-			S X;
-			S Y;
-			S Z;
-		};
-	};
-
-	//! zero element
-	static const Vector3D<S> Zero, Invalid;
-		
-	//! For compatibility with 4d vectors (discards 4th comp)
-	inline Vector3D ( S vx, S vy, S vz, S vDummy) : x(vx), y(vy), z(vz) {}
-	
-protected:
-
-};
-
-//************************************************************************
-// Additional operators
-//************************************************************************
-
-//! Addition operator
-template<class S> 
-inline Vector3D<S> operator+ ( const Vector3D<S> &v1, const Vector3D<S> &v2 ) {
-	return Vector3D<S> ( v1.x+v2.x, v1.y+v2.y, v1.z+v2.z );
-}
-//! Addition operator
-template<class S, class S2> 
-inline Vector3D<S> operator+ ( const Vector3D<S>& v, S2 s ) {
-	return Vector3D<S> ( v.x+s, v.y+s, v.z+s );
-}
-//! Addition operator
-template<class S, class S2> 
-inline Vector3D<S> operator+ ( S2 s, const Vector3D<S>& v ) {
-	return Vector3D<S> ( v.x+s, v.y+s, v.z+s );
-}
-
-//! Subtraction operator
-template<class S> 
-inline Vector3D<S> operator- ( const Vector3D<S> &v1, const Vector3D<S> &v2 ) {
-	return Vector3D<S> ( v1.x-v2.x, v1.y-v2.y, v1.z-v2.z );
-}
-//! Subtraction operator
-template<class S, class S2> 
-inline Vector3D<S> operator- ( const Vector3D<S>& v, S2 s ) {
-	return Vector3D<S> ( v.x-s, v.y-s, v.z-s );
-}
-//! Subtraction operator
-template<class S, class S2>
-inline Vector3D<S> operator- ( S2 s, const Vector3D<S>& v ) {
-	return Vector3D<S> ( s-v.x, s-v.y, s-v.z );
-}
-
-//! Multiplication operator
-template<class S>
-inline Vector3D<S> operator* ( const Vector3D<S> &v1, const Vector3D<S> &v2 ) {
-	return Vector3D<S> ( v1.x*v2.x, v1.y*v2.y, v1.z*v2.z );
-}
-//! Multiplication operator
-template<class S, class S2>
-inline Vector3D<S> operator* ( const Vector3D<S>& v, S2 s ) {
-	return Vector3D<S> ( v.x*s, v.y*s, v.z*s );
-}
-//! Multiplication operator
-template<class S, class S2> 
-inline Vector3D<S> operator* ( S2 s, const Vector3D<S>& v ) {
-	return Vector3D<S> ( s*v.x, s*v.y, s*v.z );
-}
-
-//! Division operator
-template<class S>
-inline Vector3D<S> operator/ ( const Vector3D<S> &v1, const Vector3D<S> &v2 ) {
-	return Vector3D<S> ( v1.x/v2.x, v1.y/v2.y, v1.z/v2.z );
-}
-//! Division operator
-template<class S, class S2>
-inline Vector3D<S> operator/ ( const Vector3D<S>& v, S2 s ) {
-	return Vector3D<S> ( v.x/s, v.y/s, v.z/s );
-}
-//! Division operator
-template<class S, class S2> 
-inline Vector3D<S> operator/ ( S2 s, const Vector3D<S>& v ) {
-	return Vector3D<S> ( s/v.x, s/v.y, s/v.z );
-}
-
-//! Comparison operator
-template<class S>
-inline bool operator== (const Vector3D<S>& s1, const Vector3D<S>& s2) {
-	return s1.x == s2.x && s1.y == s2.y && s1.z == s2.z;
-}
-
-//! Comparison operator
-template<class S>
-inline bool operator!= (const Vector3D<S>& s1, const Vector3D<S>& s2) {
-	return s1.x != s2.x || s1.y != s2.y || s1.z != s2.z;
-}
-
-//************************************************************************
-// External functions
-//************************************************************************
-
-//! Min operator
-template<class S>
-inline Vector3D<S> vmin (const Vector3D<S>& s1, const Vector3D<S>& s2) {
-	return Vector3D<S>(std::min(s1.x,s2.x), std::min(s1.y,s2.y), std::min(s1.z,s2.z));
-}
-
-//! Min operator
-template<class S, class S2>
-inline Vector3D<S> vmin (const Vector3D<S>& s1, S2 s2) {
-	return Vector3D<S>(std::min(s1.x,s2), std::min(s1.y,s2), std::min(s1.z,s2));
-}
-
-//! Min operator
-template<class S1, class S>
-inline Vector3D<S> vmin (S1 s1, const Vector3D<S>& s2) {
-	return Vector3D<S>(std::min(s1,s2.x), std::min(s1,s2.y), std::min(s1,s2.z));
-}
-
-//! Max operator
-template<class S>
-inline Vector3D<S> vmax (const Vector3D<S>& s1, const Vector3D<S>& s2) {
-	return Vector3D<S>(std::max(s1.x,s2.x), std::max(s1.y,s2.y), std::max(s1.z,s2.z));
-}
-
-//! Max operator
-template<class S, class S2>
-inline Vector3D<S> vmax (const Vector3D<S>& s1, S2 s2) {
-	return Vector3D<S>(std::max(s1.x,s2), std::max(s1.y,s2), std::max(s1.z,s2));
-}
-
-//! Max operator
-template<class S1, class S>
-inline Vector3D<S> vmax (S1 s1, const Vector3D<S>& s2) {
-	return Vector3D<S>(std::max(s1,s2.x), std::max(s1,s2.y), std::max(s1,s2.z));
-}
-
-//! Dot product
-template<class S>
-inline S dot ( const Vector3D<S> &t, const Vector3D<S> &v ) {
-	return t.x*v.x + t.y*v.y + t.z*v.z;    
-}
-
-//! Cross product
-template<class S>
-inline Vector3D<S> cross ( const Vector3D<S> &t, const Vector3D<S> &v ) {
-	Vector3D<S> cp (
-		( ( t.y*v.z ) - ( t.z*v.y ) ),
-		( ( t.z*v.x ) - ( t.x*v.z ) ),
-		( ( t.x*v.y ) - ( t.y*v.x ) ) );
-	return cp;
-}
-
-//! Project a vector into a plane, defined by its normal
-/*! Projects a vector into a plane normal to the given vector, which must
-  have unit length. Self is modified.
-  \param v The vector to project
-  \param n The plane normal
-  \return The projected vector */
-template<class S>
-inline const Vector3D<S>& projectNormalTo ( const Vector3D<S>& v, const Vector3D<S> &n) {
-	S sprod = dot (v, n);
-	return v - n * dot(v, n);
-}
-
-//! Compute the magnitude (length) of the vector
-//! (clamps to 0 and 1 with VECTOR_EPSILON)
-template<class S>
-inline S norm ( const Vector3D<S>& v ) {
-	S l = v.x*v.x + v.y*v.y + v.z*v.z;
-	if     (        l      <= VECTOR_EPSILON*VECTOR_EPSILON ) return(0.);
-	return ( fabs ( l-1. ) <  VECTOR_EPSILON*VECTOR_EPSILON ) ? 1. : sqrt ( l );
-}
-
-//! Compute squared magnitude
-template<class S>
-inline S normSquare ( const Vector3D<S>& v ) {
-	return v.x*v.x + v.y*v.y + v.z*v.z;
-}
-
-//! compatibility, allow use of int, Real and Vec inputs with norm/normSquare
-inline Real norm(const Real v) { return fabs(v); }
-inline Real normSquare(const Real v) { return square(v); }
-inline Real norm(const int v) { return abs(v); }
-inline Real normSquare(const int v) { return square(v); }
-
-//! Returns a normalized vector
-template<class S>
-inline Vector3D<S> getNormalized ( const Vector3D<S>& v ) {
-	S l = v.x*v.x + v.y*v.y + v.z*v.z;
-	if ( fabs ( l-1. ) < VECTOR_EPSILON*VECTOR_EPSILON )
-		return v; /* normalized "enough"... */
-	else if ( l > VECTOR_EPSILON*VECTOR_EPSILON )
-	{
-		S fac = 1./sqrt ( l );
-		return Vector3D<S> ( v.x*fac, v.y*fac, v.z*fac );
-	}
-	else
-		return Vector3D<S> ( ( S ) 0 );
-}
-
-//! Compute the norm of the vector and normalize it.
-/*! \return The value of the norm */
-template<class S>
-inline S normalize ( Vector3D<S> &v ) {
-	S norm;
-	S l = v.x*v.x + v.y*v.y + v.z*v.z;
-	if ( fabs ( l-1. ) < VECTOR_EPSILON*VECTOR_EPSILON ) {
-		norm = 1.;
-	} else if ( l > VECTOR_EPSILON*VECTOR_EPSILON ) {
-		norm = sqrt ( l );
-		v *= 1./norm;        
-	} else {
-		v = Vector3D<S>::Zero;
-		norm = 0.;
-	}
-	return ( S ) norm;
-}
-
-//! Obtain an orthogonal vector
-/*! Compute a vector that is orthonormal to the given vector.
- *  Nothing else can be assumed for the direction of the new vector.
- *  \return The orthonormal vector */
-template<class S> 
-Vector3D<S> getOrthogonalVector(const Vector3D<S>& v) {
-	// Determine the  component with max. absolute value
-	int maxIndex= ( fabs ( v.x ) > fabs ( v.y ) ) ? 0 : 1;
-	maxIndex= ( fabs ( v[maxIndex] ) > fabs ( v.z ) ) ? maxIndex : 2;
-
-	// Choose another axis than the one with max. component and project
-	// orthogonal to self
-	Vector3D<S> o ( 0.0 );
-	o[ ( maxIndex+1 ) %3]= 1;
-	
-	Vector3D<S> c = cross(v, o);
-	normalize(c);
-	return c;    
-}
-
-//! Convert vector to polar coordinates
-/*! Stable vector to angle conversion
- *\param v vector to convert
-  \param phi unique angle [0,2PI]
-  \param theta unique angle [0,PI]
- */
-template<class S>
-inline void vecToAngle ( const Vector3D<S>& v, S& phi, S& theta )
-{
-	if ( fabs ( v.y ) < VECTOR_EPSILON )
-		theta = M_PI/2;
-	else if ( fabs ( v.x ) < VECTOR_EPSILON && fabs ( v.z ) < VECTOR_EPSILON )
-		theta = ( v.y>=0 ) ? 0:M_PI;
-	else
-		theta = atan ( sqrt ( v.x*v.x+v.z*v.z ) /v.y );
-	if ( theta<0 ) theta+=M_PI;
-
-	if ( fabs ( v.x ) < VECTOR_EPSILON )
-		phi = M_PI/2;
-	else
-		phi = atan ( v.z/v.x );
-	if ( phi<0 ) phi+=M_PI;
-	if ( fabs ( v.z ) < VECTOR_EPSILON )
-		phi = ( v.x>=0 ) ? 0 : M_PI;
-	else if ( v.z < 0 )
-		phi += M_PI;
-}
-
-//! Compute vector reflected at a surface
-/*! Compute a vector, that is self (as an incoming vector) 
- * reflected at a surface with a distinct normal vector. 
- * Note that the normal is reversed, if the scalar product with it is positive.
-  \param t The incoming vector
-  \param n The surface normal
-  \return The new reflected vector
-  */
-template<class S>
-inline Vector3D<S> reflectVector ( const Vector3D<S>& t, const Vector3D<S>& n ) {
-	Vector3D<S> nn= ( dot ( t, n ) > 0.0 ) ? ( n*-1.0 ) : n;
-	return ( t - nn * ( 2.0 * dot ( nn, t ) ) );
-}
-
-//! Compute vector refracted at a surface
-/*! \param t The incoming vector
- *  \param n The surface normal
- *  \param nt The "inside" refraction index
- *  \param nair The "outside" refraction index
- *  \param refRefl Set to 1 on total reflection
- *  \return The refracted vector
-*/
-template<class S>
-inline Vector3D<S> refractVector ( const Vector3D<S> &t, const Vector3D<S> &normal, S nt, S nair, int &refRefl ) {
-	// from Glassner's book, section 5.2 (Heckberts method)
-	S eta = nair / nt;
-	S n = -dot ( t, normal );
-	S tt = 1.0 + eta*eta* ( n*n-1.0 );
-	if ( tt<0.0 ) {
-		// we have total reflection!
-		refRefl = 1;
-	} else {
-		// normal reflection
-		tt = eta*n - sqrt ( tt );
-		return ( t*eta + normal*tt );
-	}
-	return t;
-}
-
-//! Outputs the object in human readable form as string
-template<class S> std::string Vector3D<S>::toString() const {
-	char buf[256];
-	snprintf ( buf,256,"[%+4.6f,%+4.6f,%+4.6f]", ( double ) ( *this ) [0], ( double ) ( *this ) [1], ( double ) ( *this ) [2] );
-	// for debugging, optionally increase precision:
-	//snprintf ( buf,256,"[%+4.16f,%+4.16f,%+4.16f]", ( double ) ( *this ) [0], ( double ) ( *this ) [1], ( double ) ( *this ) [2] );
-	return std::string ( buf );
-}
-
-template<> std::string Vector3D<int>::toString() const;
-
-
-//! Outputs the object in human readable form to stream
-/*! Output format [x,y,z] */
-template<class S>
-std::ostream& operator<< ( std::ostream& os, const Vector3D<S>& i ) {
-	os << i.toString();
-	return os;
-}
-
-//! Reads the contents of the object from a stream 
-/*! Input format [x,y,z] */
-template<class S>
-std::istream& operator>> ( std::istream& is, Vector3D<S>& i ) {
-	char c;
-	char dummy[3];
-	is >> c >> i[0] >> dummy >> i[1] >> dummy >> i[2] >> c;
-	return is;
-}
-
-/**************************************************************************/
-// Define default vector alias
-/**************************************************************************/
-
-//! 3D vector class of type Real (typically float)
-typedef Vector3D<Real>  Vec3;
-
-//! 3D vector class of type int
-typedef Vector3D<int>  Vec3i;
-
-//! convert to Real Vector
-template<class T> inline Vec3 toVec3 ( T v ) {
-	return Vec3 ( v[0],v[1],v[2] );
-}
-
-//! convert to int Vector
-template<class T> inline Vec3i toVec3i ( T v ) {
-	return Vec3i ( ( int ) v[0], ( int ) v[1], ( int ) v[2] );
-}
-
-//! convert to int Vector
-template<class T> inline Vec3i toVec3i ( T v0, T v1, T v2 ) {
-	return Vec3i ( ( int ) v0, ( int ) v1, ( int ) v2 );
-}
-
-//! round, and convert to int Vector
-template<class T> inline Vec3i toVec3iRound ( T v ) {
-	return Vec3i ( ( int ) round ( v[0] ), ( int ) round ( v[1] ), ( int ) round ( v[2] ) );
-}
-
-//! convert to int Vector if values are close enough to an int
-template<class T> inline Vec3i toVec3iChecked ( T v ) {    
-	Vec3i ret;
-	for (size_t i=0; i<3; i++) {
-		Real a = v[i];
-		if (fabs(a-floor(a+0.5)) > 1e-5)
-			errMsg("argument is not an int, cannot convert");    
-		ret[i] = (int) (a+0.5);
-	}
-	return ret;
-}
-
-//! convert to double Vector
-template<class T> inline Vector3D<double> toVec3d ( T v ) {
-	return Vector3D<double> ( v[0], v[1], v[2] );
-}
-
-//! convert to float Vector
-template<class T> inline Vector3D<float> toVec3f ( T v ) {
-	return Vector3D<float> ( v[0], v[1], v[2] );
-}
-
-
-/**************************************************************************/
-// Specializations for common math functions
-/**************************************************************************/
-
-template<> inline Vec3 clamp<Vec3>(const Vec3& a, const Vec3& b, const Vec3& c) {
-	return Vec3 ( clamp(a.x, b.x, c.x),
-				  clamp(a.y, b.y, c.y),
-				  clamp(a.z, b.z, c.z) );    
-}
-template<> inline Vec3 safeDivide<Vec3>(const Vec3 &a, const Vec3& b) { 
-	return Vec3(safeDivide(a.x,b.x), safeDivide(a.y,b.y), safeDivide(a.z,b.z));
-}
-template<> inline Vec3 nmod<Vec3>(const Vec3& a, const Vec3& b) {
-	return Vec3(nmod(a.x,b.x),nmod(a.y,b.y),nmod(a.z,b.z));
-}
-
-}; // namespace
-
-
-#endif

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+		{13342092-1CC5-4994-A03C-3963197E8016}.Debug|x64.Build.0 = Debug|x64
+		{13342092-1CC5-4994-A03C-3963197E8016}.Release|Win32.ActiveCfg = Release|Win32
+		{13342092-1CC5-4994-A03C-3963197E8016}.Release|Win32.Build.0 = Release|Win32
+		{13342092-1CC5-4994-A03C-3963197E8016}.Release|x64.ActiveCfg = Release|x64
+		{13342092-1CC5-4994-A03C-3963197E8016}.Release|x64.Build.0 = Release|x64
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

readme.txt

@@ -1,12 +1,18 @@
 -------------------------------------------------------------------------------
---- Visual Studio 2013/15/17 Template Project for C++/DirectX11 Application ---
+--- Visual Studio 2013/15/17/22 Template Project for C++/DirectX11 Application
 --- Marc Treib, Florian Ferstl, Sept 2013 -------------------------------------
 --- Updated: Florian Ferstl, Sept 2014 ----------------------------------------
 --- Updated: Mina Saad Aziz, May 2016 -----------------------------------------
 --- Updated: Mengyu Chu, Nov 2017    ------------------------------------------
 --- Updated: You Xie, Nov 2019    ---------------------------------------------
+--- Updated: Rene Winchenbach, Felix Koehler, Oct 2023    ---------------------
 -------------------------------------------------------------------------------
 
+!Important:
+
+We recommend using the `Template_2022.sln` solution file together with Visual
+Studio 2022 Community Edition.
+
 This solution contains the following components:
 
  - AntTweakBar 1.16