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kookroach:master kookroach:cmake kookroach:Ex2 kookroach:Ex3

9 Commits
b857996445 ... Ex3

Author SHA1 Message Date
youxie
409a71248a Update quaternion.h 
typo fix for quaternion multiplication
 2022-11-09 16:21:06 +01:00
Brener
3018e4c60f Including stdexcept in order to make retargeting to VS19 work 2021-11-29 13:27:44 +01:00
youxie
142b8117ab Ex3 2019-12-01 23:09:23 +01:00
youxie
2324790537 Ex3 2019-12-01 22:57:43 +01:00
youxie
56a95ec733 Ex3 2019-11-29 11:03:20 +01:00
youxie
8c73ee7c4e Ex3 2019-11-29 10:58:50 +01:00
youxie
996e84b414 Update readme.txt 2019-11-29 09:55:05 +01:00
youxie
0970af19e7 Update readme.txt 2019-11-29 09:54:49 +01:00
you2xie
2fb9a6be67 Ex3 2018-11-27 11:06:44 +01:00
33 changed files with 3195 additions and 6403 deletions
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47
.gitignore vendored
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@@ -1,47 +0,0 @@
# 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/

496
AntTweakBar/src/AntTweakBar_2022.vcxproj
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@@ -1,496 +0,0 @@
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{ {
bool operator()(const TwType& _Left, const TwType& _Right) const bool operator()(const TwType& _Left, const TwType& _Right) const
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159
Simulations/DiffusionSimulator.cpp Normal file
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#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;
}

51
Simulations/DiffusionSimulator.h Normal file
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#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

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Simulations/MassPoint.h
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#pragma once
#include "util/vectorbase.h"
struct MassPoint {
GamePhysics::Vec3 position;
GamePhysics::Vec3 velocity;
bool isFixed;
};

387
Simulations/MassSpringSystemSimulator.cpp
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#include "MassSpringSystemSimulator.h"
#include <stdio.h>
MassSpringSystemSimulator::MassSpringSystemSimulator()
{
m_iTestCase = 0;
m_fMass = 10;
m_fStiffness = 40;
m_iIntegrator = EULER;
}
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();
//old Velocity
auto mOld_v = massPoint1->velocity;
auto m2Old_v = massPoint2->velocity;
Vec3 PosVector = massPoint1->position - massPoint2->position;
//Abstand ausrechnen
float length = LengthCalculator(PosVector);
//normalize
Vec3 normal1 = PosVector / length;
Vec3 normal2 = -1 * normal1;
//Midpoint calculator
auto midpointStep1 = MidPointStep(timestep / 2, spring, massPoint1->position, massPoint1->velocity, normal1, length);
auto midpointStep2 = MidPointStep(timestep / 2, spring, massPoint2->position, massPoint2->velocity, normal2, length);
auto newPosVector = std::get<0>(midpointStep1) - std::get<0>(midpointStep2);
auto newLength = LengthCalculator(newPosVector);
auto newNormal1 = newPosVector / newLength;
auto newNormal2 = -1 * newNormal1;
auto midpoint1 = MidPointStep(timestep, spring, massPoint1->position, std::get<1>(midpointStep1), newNormal1, newLength);
auto midpoint2 = MidPointStep(timestep, spring, massPoint2->position, std::get<1>(midpointStep2), newNormal2, newLength);
//cout << NewPos;
//cout << NewVel;
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::MidPointStep(float timestep, const Spring& spring, Vec3 position, Vec3 velocity, Vec3 normal, float length)
{
Vec3 force = -m_fStiffness * (length - spring.initialLength) * normal;
Vec3 acc = calculateAcceleration(force, m_fMass);
Vec3 pos = position + timestep * velocity;
Vec3 vel = velocity + 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());
}

115
Simulations/MassSpringSystemSimulator.h
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@@ -1,75 +1,58 @@
#ifndef MASSSPRINGSYSTEMSIMULATOR_h #ifndef MASSSPRINGSYSTEMSIMULATOR_h
#define MASSSPRINGSYSTEMSIMULATOR_h #define MASSSPRINGSYSTEMSIMULATOR_h
#include "Simulator.h" #include "Simulator.h"
#include "MassPoint.h"
#include "Spring.h" // Do Not Change
#define EULER 0
// Do Not Change #define LEAPFROG 1
#define EULER 0 #define MIDPOINT 2
#define LEAPFROG 1 // Do Not Change
#define MIDPOINT 2
// Do Not Change
class MassSpringSystemSimulator:public Simulator{
public:
class MassSpringSystemSimulator:public Simulator{ // Construtors
public: MassSpringSystemSimulator();
// Construtors
MassSpringSystemSimulator(); // UI Functions
const char * getTestCasesStr();
// UI Functions void initUI(DrawingUtilitiesClass * DUC);
const char * getTestCasesStr(); void reset();
void initUI(DrawingUtilitiesClass * DUC); void drawFrame(ID3D11DeviceContext* pd3dImmediateContext);
void reset(); void notifyCaseChanged(int testCase);
void drawFrame(ID3D11DeviceContext* pd3dImmediateContext); void externalForcesCalculations(float timeElapsed);
void notifyCaseChanged(int testCase); void simulateTimestep(float timeStep);
void externalForcesCalculations(float timeElapsed); void onClick(int x, int y);
void simulateTimestep(float timeStep); void onMouse(int x, int y);
void onClick(int x, int y);
void onMouse(int x, int y); // Specific Functions
void setMass(float mass);
// Specific Functions void setStiffness(float stiffness);
void setMass(float mass); void setDampingFactor(float damping);
void setStiffness(float stiffness); int addMassPoint(Vec3 position, Vec3 Velocity, bool isFixed);
void setDampingFactor(float damping); void addSpring(int masspoint1, int masspoint2, float initialLength);
int addMassPoint(Vec3 position, Vec3 Velocity, bool isFixed); int getNumberOfMassPoints();
void addSpring(int masspoint1, int masspoint2, float initialLength); int getNumberOfSprings();
int getNumberOfMassPoints(); Vec3 getPositionOfMassPoint(int index);
int getNumberOfSprings(); Vec3 getVelocityOfMassPoint(int index);
Vec3 getPositionOfMassPoint(int index);
Vec3 getVelocityOfMassPoint(int index);
void applyExternalForce(Vec3 force); void applyExternalForce(Vec3 force);
void Midpoint(Spring& spring, float timestep);
std::tuple<Vec3, Vec3> MidPointStep(float timestep, const Spring& spring, Vec3 position, Vec3 velocity, Vec3 normal, float 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 // Do Not Change
void setIntegrator(int integrator) { void setIntegrator(int integrator) {
m_iIntegrator = integrator; m_iIntegrator = integrator;
} }
private: private:
// Data Attributes // Data Attributes
float m_fMass; float m_fMass;
float m_fStiffness; float m_fStiffness;
float m_fDamping; float m_fDamping;
int m_iIntegrator; int m_iIntegrator;
// UI Attributes // UI Attributes
Vec3 m_externalForce; Vec3 m_externalForce;
Point2D m_mouse; Point2D m_mouse;
Point2D m_trackmouse; Point2D m_trackmouse;
Point2D m_oldtrackmouse; Point2D m_oldtrackmouse;
};
//Mass points and springs
std::vector<std::shared_ptr<MassPoint>> masspoints;
std::vector<Spring> springs;
};
#endif #endif

11
Simulations/SphereSystemSimulator.cpp Normal file
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@@ -0,0 +1,11 @@
#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

49
Simulations/SphereSystemSimulator.h Normal file
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@@ -0,0 +1,49 @@
#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

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

160
Simulations/general.h Normal file
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@@ -0,0 +1,160 @@
/******************************************************************************
*
* 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

30
Simulations/main.cpp
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@@ -21,9 +21,10 @@ using namespace GamePhysics;
//#define ADAPTIVESTEP //#define ADAPTIVESTEP
//#define TEMPLATE_DEMO //#define TEMPLATE_DEMO
#define MASS_SPRING_SYSTEM //#define MASS_SPRING_SYSTEM
//#define RIGID_BODY_SYSTEM //#define RIGID_BODY_SYSTEM
//#define SPH_SYSTEM //#define SPH_SYSTEM
#define DIFFUSION_SYSTEM
#ifdef TEMPLATE_DEMO #ifdef TEMPLATE_DEMO
#include "TemplateSimulator.h" #include "TemplateSimulator.h"
@@ -38,6 +39,10 @@ using namespace GamePhysics;
//#include "SPHSystemSimulator.h" //#include "SPHSystemSimulator.h"
#endif #endif
#ifdef DIFFUSION_SYSTEM
#include "DiffusionSimulator.h"
#endif
DrawingUtilitiesClass * g_pDUC; DrawingUtilitiesClass * g_pDUC;
Simulator * g_pSimulator; Simulator * g_pSimulator;
float g_fTimestep = 0.001; float g_fTimestep = 0.001;
@@ -53,14 +58,9 @@ bool firstTime = true;
FFmpeg* g_pFFmpegVideoRecorder = nullptr; FFmpeg* g_pFFmpegVideoRecorder = nullptr;
// Input Stuff
float lastX;
float lastY;
void initTweakBar(){ void initTweakBar(){
g_pDUC->g_pTweakBar = TwNewBar("TweakBar"); g_pDUC->g_pTweakBar = TwNewBar("TweakBar");
TwDefine(" TweakBar color='128 128 128' alpha=128 "); TwDefine(" TweakBar color='0 128 128' alpha=128 ");
TwType TW_TYPE_TESTCASE = TwDefineEnumFromString("Test Scene", g_pSimulator->getTestCasesStr()); TwType TW_TYPE_TESTCASE = TwDefineEnumFromString("Test Scene", g_pSimulator->getTestCasesStr());
TwAddVarRW(g_pDUC->g_pTweakBar, "Test Scene", TW_TYPE_TESTCASE, &g_iTestCase, ""); 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. // HINT: For buttons you can directly pass the callback function as a lambda expression.
@@ -207,23 +207,10 @@ void CALLBACK OnMouse( bool bLeftButtonDown, bool bRightButtonDown, bool bMiddle
if (bLeftButtonDown) if (bLeftButtonDown)
{ {
g_pSimulator->onClick(xPos,yPos); g_pSimulator->onClick(xPos,yPos);
int x = xPos;
int y = yPos;
} }
else else
{ {
g_pSimulator->onMouse(xPos, yPos); 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);*/
} }
} }
@@ -387,6 +374,9 @@ int main(int argc, char* argv[])
#endif #endif
#ifdef SPH_SYSTEM #ifdef SPH_SYSTEM
//g_pSimulator= new SPHSystemSimulator(); //g_pSimulator= new SPHSystemSimulator();
#endif
#ifdef DIFFUSION_SYSTEM
g_pSimulator= new DiffusionSimulator();
#endif #endif
g_pSimulator->reset(); g_pSimulator->reset();

750
Simulations/pcgsolver.h Normal file
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@@ -0,0 +1,750 @@
//
// 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

168
Simulations/util/vector4d.h
View File

@@ -14,29 +14,29 @@ namespace GamePhysics
// basic inlined vector class // basic inlined vector class
template<class Scalar> template<class Scalar>
class ntlVector4Dim class vector4Dim
{ {
public: public:
//! Constructor //! Constructor
inline ntlVector4Dim() : x(0),y(0),z(0),t(0) {} inline vector4Dim() : x(0),y(0),z(0),t(0) {}
//! Copy-Constructor //! Copy-Constructor
inline ntlVector4Dim ( const ntlVector4Dim<Scalar> &v ) : x(v.x), y(v.y), z(v.z),t(v.t) {} inline vector4Dim ( const vector4Dim<Scalar> &v ) : x(v.x), y(v.y), z(v.z),t(v.t) {}
//! Copy-Constructor //! Copy-Constructor
inline ntlVector4Dim ( const float * v) : x((Scalar)v[0]), y((Scalar)v[1]), z((Scalar)v[2]), t((Scalar)v[3]) {} inline vector4Dim ( const float * v) : x((Scalar)v[0]), y((Scalar)v[1]), z((Scalar)v[2]), t((Scalar)v[3]) {}
//! Copy-Constructor //! Copy-Constructor
inline ntlVector4Dim ( const double * v) : x((Scalar)v[0]), y((Scalar)v[1]), z((Scalar)v[2]), t((Scalar)v[3]) {} inline vector4Dim ( 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 //! Construct a vector from one Scalar
inline ntlVector4Dim ( Scalar v) : x(v), y(v), z(v), t(v) {} inline vector4Dim ( Scalar v) : x(v), y(v), z(v), t(v) {}
//! Construct a vector from four Ss //! Construct a vector from four Ss
inline ntlVector4Dim ( Scalar vx, Scalar vy, Scalar vz, Scalar vw) : x(vx), y(vy), z(vz), t(vw) {} inline vector4Dim ( Scalar vx, Scalar vy, Scalar vz, Scalar vw) : x(vx), y(vy), z(vz), t(vw) {}
//! Construct a vector from four Ss //! Construct a vector from four Ss
//inline ntlVector4Dim(DirectX::XMVECTOR &v ); // TODO CHECK! //inline vector4Dim(DirectX::XMVECTOR &v ); // TODO CHECK!
// get address of array for OpenGL // get address of array for OpenGL
Scalar *getAddress() { return value; } Scalar *getAddress() { return value; }
@@ -44,7 +44,7 @@ public:
// Operators // Operators
//! Assignment operator //! Assignment operator
inline const ntlVector4Dim<Scalar>& operator= ( const ntlVector4Dim<Scalar>& v ) { inline const vector4Dim<Scalar>& operator= ( const vector4Dim<Scalar>& v ) {
x = v.x; x = v.x;
y = v.y; y = v.y;
z = v.z; z = v.z;
@@ -52,12 +52,12 @@ public:
return *this; return *this;
} }
//! Assignment operator //! Assignment operator
inline const ntlVector4Dim<Scalar>& operator= ( Scalar s ) { inline const vector4Dim<Scalar>& operator= ( Scalar s ) {
x = y = z = t = s; x = y = z = t = s;
return *this; return *this;
} }
//! Assign and add operator //! Assign and add operator
inline const ntlVector4Dim<Scalar>& operator+= ( const ntlVector4Dim<Scalar>& v ) { inline const vector4Dim<Scalar>& operator+= ( const vector4Dim<Scalar>& v ) {
x += v.x; x += v.x;
y += v.y; y += v.y;
z += v.z; z += v.z;
@@ -65,7 +65,7 @@ public:
return *this; return *this;
} }
//! Assign and add operator //! Assign and add operator
inline const ntlVector4Dim<Scalar>& operator+= ( Scalar s ) { inline const vector4Dim<Scalar>& operator+= ( Scalar s ) {
x += s; x += s;
y += s; y += s;
z += s; z += s;
@@ -73,7 +73,7 @@ public:
return *this; return *this;
} }
//! Assign and sub operator //! Assign and sub operator
inline const ntlVector4Dim<Scalar>& operator-= ( const ntlVector4Dim<Scalar>& v ) { inline const vector4Dim<Scalar>& operator-= ( const vector4Dim<Scalar>& v ) {
x -= v.x; x -= v.x;
y -= v.y; y -= v.y;
z -= v.z; z -= v.z;
@@ -81,7 +81,7 @@ public:
return *this; return *this;
} }
//! Assign and sub operator //! Assign and sub operator
inline const ntlVector4Dim<Scalar>& operator-= ( Scalar s ) { inline const vector4Dim<Scalar>& operator-= ( Scalar s ) {
x -= s; x -= s;
y -= s; y -= s;
z -= s; z -= s;
@@ -89,7 +89,7 @@ public:
return *this; return *this;
} }
//! Assign and mult operator //! Assign and mult operator
inline const ntlVector4Dim<Scalar>& operator*= ( const ntlVector4Dim<Scalar>& v ) { inline const vector4Dim<Scalar>& operator*= ( const vector4Dim<Scalar>& v ) {
x *= v.x; x *= v.x;
y *= v.y; y *= v.y;
z *= v.z; z *= v.z;
@@ -97,7 +97,7 @@ public:
return *this; return *this;
} }
//! Assign and mult operator //! Assign and mult operator
inline const ntlVector4Dim<Scalar>& operator*= ( Scalar s ) { inline const vector4Dim<Scalar>& operator*= ( Scalar s ) {
x *= s; x *= s;
y *= s; y *= s;
z *= s; z *= s;
@@ -105,7 +105,7 @@ public:
return *this; return *this;
} }
//! Assign and div operator //! Assign and div operator
inline const ntlVector4Dim<Scalar>& operator/= ( const ntlVector4Dim<Scalar>& v ) { inline const vector4Dim<Scalar>& operator/= ( const vector4Dim<Scalar>& v ) {
x /= v.x; x /= v.x;
y /= v.y; y /= v.y;
z /= v.z; z /= v.z;
@@ -113,7 +113,7 @@ public:
return *this; return *this;
} }
//! Assign and div operator //! Assign and div operator
inline const ntlVector4Dim<Scalar>& operator/= ( Scalar s ) { inline const vector4Dim<Scalar>& operator/= ( Scalar s ) {
x /= s; x /= s;
y /= s; y /= s;
z /= s; z /= s;
@@ -121,29 +121,29 @@ public:
return *this; return *this;
} }
inline void safeDivide (const ntlVector4Dim<Scalar>& v); inline void safeDivide (const vector4Dim<Scalar>& v);
//! Negation operator //! Negation operator
inline ntlVector4Dim<Scalar> operator- () const { inline vector4Dim<Scalar> operator- () const {
return ntlVector4Dim<Scalar> (-x, -y, -z, -t); return vector4Dim<Scalar> (-x, -y, -z, -t);
} }
// binary operator add // binary operator add
inline ntlVector4Dim<Scalar> operator+ (const ntlVector4Dim<Scalar>&) const; inline vector4Dim<Scalar> operator+ (const vector4Dim<Scalar>&) const;
// binary operator add // binary operator add
inline ntlVector4Dim<Scalar> operator+ (Scalar) const; inline vector4Dim<Scalar> operator+ (Scalar) const;
// binary operator sub // binary operator sub
inline ntlVector4Dim<Scalar> operator- (const ntlVector4Dim<Scalar>&) const; inline vector4Dim<Scalar> operator- (const vector4Dim<Scalar>&) const;
// binary operator sub // binary operator sub
inline ntlVector4Dim<Scalar> operator- (Scalar) const; inline vector4Dim<Scalar> operator- (Scalar) const;
// binary operator mult // binary operator mult
inline ntlVector4Dim<Scalar> operator* (const ntlVector4Dim<Scalar>&) const; inline vector4Dim<Scalar> operator* (const vector4Dim<Scalar>&) const;
// binary operator mult // binary operator mult
inline ntlVector4Dim<Scalar> operator* (Scalar) const; inline vector4Dim<Scalar> operator* (Scalar) const;
// binary operator div // binary operator div
inline ntlVector4Dim<Scalar> operator/ (const ntlVector4Dim<Scalar>&) const; inline vector4Dim<Scalar> operator/ (const vector4Dim<Scalar>&) const;
// binary operator div // binary operator div
inline ntlVector4Dim<Scalar> operator/ (Scalar) const; inline vector4Dim<Scalar> operator/ (Scalar) const;
//! Get smallest component //! Get smallest component
//inline Scalar min() const { return ( x<y ) ? ( ( x<z ) ? x:z ) : ( ( y<z ) ? y:z ); // todo t!!} //inline Scalar min() const { return ( x<y ) ? ( ( x<z ) ? x:z ) : ( ( y<z ) ? y:z ); // todo t!!}
@@ -185,7 +185,7 @@ public:
}; };
// zero element // zero element
static const ntlVector4Dim<Scalar> ZERO; static const vector4Dim<Scalar> ZERO;
protected: protected:
@@ -196,9 +196,9 @@ protected:
//************************************************************************ //************************************************************************
//! Addition operator //! Addition operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> ntlVector4Dim<Scalar>::operator+ ( const ntlVector4Dim<Scalar> &v) const inline vector4Dim<Scalar> vector4Dim<Scalar>::operator+ ( const vector4Dim<Scalar> &v) const
{ {
return ntlVector4Dim<Scalar> (value[0]+v.value[0], return vector4Dim<Scalar> (value[0]+v.value[0],
value[1]+v.value[1], value[1]+v.value[1],
value[2]+v.value[2], value[2]+v.value[2],
value[3]+v.value[3]); value[3]+v.value[3]);
@@ -206,42 +206,42 @@ inline ntlVector4Dim<Scalar> ntlVector4Dim<Scalar>::operator+ ( const ntlVector4
//! Addition operator //! Addition operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
ntlVector4Dim<Scalar>::operator+(Scalar s) const vector4Dim<Scalar>::operator+(Scalar s) const
{ {
return ntlVector4Dim<Scalar>(value[0]+s, return vector4Dim<Scalar>(value[0]+s,
value[1]+s, value[1]+s,
value[2]+s, value[2]+s,
value[3]+s); value[3]+s);
} }
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
operator+(float s, ntlVector4Dim<Scalar> v) operator+(float s, vector4Dim<Scalar> v)
{ {
return v + s; return v + s;
} }
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
operator+(double s, ntlVector4Dim<Scalar> v) operator+(double s, vector4Dim<Scalar> v)
{ {
return v + s; return v + s;
} }
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
operator+(int s, ntlVector4Dim<Scalar> v) operator+(int s, vector4Dim<Scalar> v)
{ {
return v + s; return v + s;
} }
//! Subtraction operator //! Subtraction operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
ntlVector4Dim<Scalar>::operator-( const ntlVector4Dim<Scalar> &v ) const vector4Dim<Scalar>::operator-( const vector4Dim<Scalar> &v ) const
{ {
return ntlVector4Dim<Scalar>(value[0]-v.value[0], return vector4Dim<Scalar>(value[0]-v.value[0],
value[1]-v.value[1], value[1]-v.value[1],
value[2]-v.value[2], value[2]-v.value[2],
value[3]-v.value[3]); value[3]-v.value[3]);
@@ -249,10 +249,10 @@ ntlVector4Dim<Scalar>::operator-( const ntlVector4Dim<Scalar> &v ) const
//! Subtraction operator //! Subtraction operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
ntlVector4Dim<Scalar>::operator-(Scalar s ) const vector4Dim<Scalar>::operator-(Scalar s ) const
{ {
return ntlVector4Dim<Scalar>(value[0]-s, return vector4Dim<Scalar>(value[0]-s,
value[1]-s, value[1]-s,
value[2]-s, value[2]-s,
value[3]-s,); value[3]-s,);
@@ -260,50 +260,50 @@ ntlVector4Dim<Scalar>::operator-(Scalar s ) const
//! Multiplication operator //! Multiplication operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
ntlVector4Dim<Scalar>::operator* ( const ntlVector4Dim<Scalar>& v ) const vector4Dim<Scalar>::operator* ( const vector4Dim<Scalar>& v ) const
{ {
return ntlVector4Dim<Scalar>(value[0]*v.value[0], return vector4Dim<Scalar>(value[0]*v.value[0],
value[1]*v.value[1], value[1]*v.value[1],
value[2]*v.value[2], value[2]*v.value[2],
value[3]*v.value[3]); value[3]*v.value[3]);
} }
//! Multiplication operator //! Multiplication operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
ntlVector4Dim<Scalar>::operator* (Scalar s) const vector4Dim<Scalar>::operator* (Scalar s) const
{ {
return ntlVector4Dim<Scalar>(value[0]*s, value[1]*s, value[2]*s, value[3]*s); return vector4Dim<Scalar>(value[0]*s, value[1]*s, value[2]*s, value[3]*s);
} }
//! Multiplication operator //! Multiplication operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
operator* (float s, ntlVector4Dim<Scalar> v) operator* (float s, vector4Dim<Scalar> v)
{ {
return v * s; return v * s;
} }
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
operator*(double s, ntlVector4Dim<Scalar> v) operator*(double s, vector4Dim<Scalar> v)
{ {
return v * s; return v * s;
} }
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
operator*(int s, ntlVector4Dim<Scalar> v) operator*(int s, vector4Dim<Scalar> v)
{ {
return v * s; return v * s;
} }
//! Division operator //! Division operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
ntlVector4Dim<Scalar>::operator/ (const ntlVector4Dim<Scalar> & v) const vector4Dim<Scalar>::operator/ (const vector4Dim<Scalar> & v) const
{ {
return ntlVector4Dim<Scalar> (value[0]/v.value[0], return vector4Dim<Scalar> (value[0]/v.value[0],
value[1]/v.value[1], value[1]/v.value[1],
value[2]/v.value[2], value[2]/v.value[2],
value[3]/v.value[3]); value[3]/v.value[3]);
@@ -311,10 +311,10 @@ ntlVector4Dim<Scalar>::operator/ (const ntlVector4Dim<Scalar> & v) const
//! Division operator //! Division operator
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> inline vector4Dim<Scalar>
ntlVector4Dim<Scalar>::operator / (Scalar s) const vector4Dim<Scalar>::operator / (Scalar s) const
{ {
return ntlVector4Dim<Scalar> (value[0]/s, return vector4Dim<Scalar> (value[0]/s,
value[1]/s, value[1]/s,
value[2]/s, value[2]/s,
value[3]/s); value[3]/s);
@@ -322,7 +322,7 @@ ntlVector4Dim<Scalar>::operator / (Scalar s) const
//! Safe divide //! Safe divide
template<class Scalar> template<class Scalar>
inline void ntlVector4Dim<Scalar>::safeDivide( const ntlVector4Dim<Scalar> &v ) inline void vector4Dim<Scalar>::safeDivide( const vector4Dim<Scalar> &v )
{ {
value[0] = (v.value[0]!=0) ? (value[0] / v.value[0]) : 0; value[0] = (v.value[0]!=0) ? (value[0] / v.value[0]) : 0;
value[1] = (v.value[1]!=0) ? (value[1] / v.value[1]) : 0; value[1] = (v.value[1]!=0) ? (value[1] / v.value[1]) : 0;
@@ -336,14 +336,14 @@ inline void ntlVector4Dim<Scalar>::safeDivide( const ntlVector4Dim<Scalar> &v )
//! Dot product //! Dot product
template<class Scalar> template<class Scalar>
inline Scalar dot ( const ntlVector4Dim<Scalar> &t, const ntlVector4Dim<Scalar> &v ) { inline Scalar dot ( const vector4Dim<Scalar> &t, const vector4Dim<Scalar> &v ) {
return t.x*v.x + t.y*v.y + t.z*v.z + t.t*v.t; return t.x*v.x + t.y*v.y + t.z*v.z + t.t*v.t;
} }
//! Cross product //! Cross product
/*template<class Scalar> /*template<class Scalar>
inline ntlVector4Dim<Scalar> cross ( const ntlVector4Dim<Scalar> &t, const ntlVector4Dim<Scalar> &v ) { inline vector4Dim<Scalar> cross ( const vector4Dim<Scalar> &t, const vector4Dim<Scalar> &v ) {
NYI ntlVector4Dim<Scalar> cp ( NYI vector4Dim<Scalar> cp (
( ( t.y*v.z ) - ( t.z*v.y ) ), ( ( t.y*v.z ) - ( t.z*v.y ) ),
( ( t.z*v.x ) - ( t.x*v.z ) ), ( ( t.z*v.x ) - ( t.x*v.z ) ),
( ( t.x*v.y ) - ( t.y*v.x ) ) ); ( ( t.x*v.y ) - ( t.y*v.x ) ) );
@@ -353,36 +353,36 @@ inline ntlVector4Dim<Scalar> cross ( const ntlVector4Dim<Scalar> &t, const ntlVe
//! Compute the magnitude (length) of the vector //! Compute the magnitude (length) of the vector
template<class Scalar> template<class Scalar>
inline Scalar norm ( const ntlVector4Dim<Scalar>& v ) { inline Scalar norm ( const vector4Dim<Scalar>& v ) {
Scalar l = v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t; 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 ); return ( fabs ( l-1. ) < VECTOR_EPSILON*VECTOR_EPSILON ) ? 1. : sqrt ( l );
} }
//! Compute squared magnitude //! Compute squared magnitude
template<class Scalar> template<class Scalar>
inline Scalar normSquare ( const ntlVector4Dim<Scalar>& v ) { inline Scalar normSquare ( const vector4Dim<Scalar>& v ) {
return v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t; return v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t;
} }
//! Returns a normalized vector //! Returns a normalized vector
template<class Scalar> template<class Scalar>
inline ntlVector4Dim<Scalar> getNormalized ( const ntlVector4Dim<Scalar>& v ) { inline vector4Dim<Scalar> getNormalized ( const vector4Dim<Scalar>& v ) {
Scalar l = v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t; 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 ) if ( fabs ( l-1. ) < VECTOR_EPSILON*VECTOR_EPSILON )
return v; /* normalized "enough"... */ return v; /* normalized "enough"... */
else if ( l > VECTOR_EPSILON*VECTOR_EPSILON ) else if ( l > VECTOR_EPSILON*VECTOR_EPSILON )
{ {
Scalar fac = 1./sqrt ( l ); Scalar fac = 1./sqrt ( l );
return ntlVector4Dim<Scalar> ( v.x*fac, v.y*fac, v.z*fac , v.t*fac ); return vector4Dim<Scalar> ( v.x*fac, v.y*fac, v.z*fac , v.t*fac );
} }
else else
return ntlVector4Dim<Scalar> ( ( Scalar ) 0 ); return vector4Dim<Scalar> ( ( Scalar ) 0 );
} }
//! Compute the norm of the vector and normalize it. //! Compute the norm of the vector and normalize it.
/*! \return The value of the norm */ /*! \return The value of the norm */
template<class Scalar> template<class Scalar>
inline Scalar normalize ( ntlVector4Dim<Scalar> &v ) { inline Scalar normalize ( vector4Dim<Scalar> &v ) {
Scalar norm; Scalar norm;
Scalar l = v.x*v.x + v.y*v.y + v.z*v.z + v.t*v.t; 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 ) { if ( fabs ( l-1. ) < VECTOR_EPSILON*VECTOR_EPSILON ) {
@@ -391,14 +391,14 @@ inline Scalar normalize ( ntlVector4Dim<Scalar> &v ) {
norm = sqrt ( l ); norm = sqrt ( l );
v *= 1./norm; v *= 1./norm;
} else { } else {
v = ntlVector4Dim<Scalar>::ZERO; v = vector4Dim<Scalar>::ZERO;
norm = 0.; norm = 0.;
} }
return ( Scalar ) norm; return ( Scalar ) norm;
} }
template<class Scalar> template<class Scalar>
inline bool equal(const ntlVector4Dim<Scalar> &v, const ntlVector4Dim<Scalar> &c) inline bool equal(const vector4Dim<Scalar> &v, const vector4Dim<Scalar> &c)
{ {
return (ABS(v[0]-c[0]) + return (ABS(v[0]-c[0]) +
ABS(v[1]-c[1]) + ABS(v[1]-c[1]) +
@@ -407,7 +407,7 @@ inline bool equal(const ntlVector4Dim<Scalar> &v, const ntlVector4Dim<Scalar> &c
} }
//! Outputs the object in human readable form as string //! Outputs the object in human readable form as string
template<class Scalar> std::string ntlVector4Dim<Scalar>::toString() const { template<class Scalar> std::string vector4Dim<Scalar>::toString() const {
char buf[256]; char buf[256];
snprintf ( buf,256,"<%f,%f,%f,%f>", ( double ) ( *this ) [0], ( double ) ( *this ) [1], ( double ) ( *this ) [2] , ( double ) ( *this ) [3] ); snprintf ( buf,256,"<%f,%f,%f,%f>", ( double ) ( *this ) [0], ( double ) ( *this ) [1], ( double ) ( *this ) [2] , ( double ) ( *this ) [3] );
return std::string ( buf ); return std::string ( buf );
@@ -415,7 +415,7 @@ template<class Scalar> std::string ntlVector4Dim<Scalar>::toString() const {
//! Outputs the object in human readable form to stream //! Outputs the object in human readable form to stream
template<class Scalar> template<class Scalar>
std::ostream& operator<< ( std::ostream& os, const ntlVector4Dim<Scalar>& i ) { std::ostream& operator<< ( std::ostream& os, const vector4Dim<Scalar>& i ) {
char buf[256]; char buf[256];
snprintf ( buf,256,"[%d,%d,%d,%d]", (double) i[0], (double) i[1], (double) i[2] , (double) i[3] ); snprintf ( buf,256,"[%d,%d,%d,%d]", (double) i[0], (double) i[1], (double) i[2] , (double) i[3] );
os << std::string ( buf ); os << std::string ( buf );
@@ -424,7 +424,7 @@ std::ostream& operator<< ( std::ostream& os, const ntlVector4Dim<Scalar>& i ) {
//! Reads the contents of the object from a stream //! Reads the contents of the object from a stream
template<class Scalar> template<class Scalar>
std::istream& operator>> ( std::istream& is, ntlVector4Dim<Scalar>& i ) { std::istream& operator>> ( std::istream& is, vector4Dim<Scalar>& i ) {
char c; char c;
char dummy[4]; char dummy[4];
is >> c >> i[0] >> dummy >> i[1] >> dummy >> i[2] >> dummy >> i[3] >> c; is >> c >> i[0] >> dummy >> i[1] >> dummy >> i[2] >> dummy >> i[3] >> c;
@@ -436,16 +436,16 @@ std::istream& operator>> ( std::istream& is, ntlVector4Dim<Scalar>& i ) {
/**************************************************************************/ /**************************************************************************/
//! 3D vector class of type Real (typically float) //! 3D vector class of type Real (typically float)
typedef ntlVector4Dim<Real> Vec4; typedef vector4Dim<Real> Vec4;
// a 3D vector with double precision // a 3D vector with double precision
typedef ntlVector4Dim<double> nVec4d; typedef vector4Dim<double> nVec4d;
// a 3D vector with single precision // a 3D vector with single precision
typedef ntlVector4Dim<float> nVec4f; typedef vector4Dim<float> nVec4f;
//! 3D vector class of type int //! 3D vector class of type int
typedef ntlVector4Dim<int> nVec4i; typedef vector4Dim<int> nVec4i;
/* convert int,float and double vectors */ /* 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]); } template<class T> inline nVec4i vec42I(T v) { return nVec4i((int)v[0],(int)v[1],(int)v[2],(int)v[3]); }

2520
Simulations/util/vectorbase.h
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611
Simulations/vectorbase.h Normal file
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@@ -0,0 +1,611 @@
/******************************************************************************
*
* 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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SimulationsRunner/SimulationsRunner_2022.vcxproj
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8
readme.txt
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------------------------------------------------------------------------------- -------------------------------------------------------------------------------
--- Visual Studio 2013/15/17/22 Template Project for C++/DirectX11 Application --- Visual Studio 2013/15/17 Template Project for C++/DirectX11 Application ---
--- Marc Treib, Florian Ferstl, Sept 2013 ------------------------------------- --- Marc Treib, Florian Ferstl, Sept 2013 -------------------------------------
--- Updated: Florian Ferstl, Sept 2014 ---------------------------------------- --- Updated: Florian Ferstl, Sept 2014 ----------------------------------------
--- Updated: Mina Saad Aziz, May 2016 ----------------------------------------- --- Updated: Mina Saad Aziz, May 2016 -----------------------------------------
--- Updated: Mengyu Chu, Nov 2017 ------------------------------------------ --- Updated: Mengyu Chu, Nov 2017 ------------------------------------------
--- Updated: You Xie, Nov 2019 --------------------------------------------- --- 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: This solution contains the following components:
- AntTweakBar 1.16 - AntTweakBar 1.16