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Message #01663
[svn] r1941 - in trunk: pkg/common/Engine/DeusExMachina pkg/common/Engine/StandAloneEngine pkg/realtime-rigidbody scripts/test
Author: eudoxos
Date: 2009-08-14 08:59:23 +0200 (Fri, 14 Aug 2009)
New Revision: 1941
Added:
trunk/scripts/test/pack-cloud.py
Removed:
trunk/pkg/common/Engine/DeusExMachina/FixedOrientationEngine.cpp
trunk/pkg/common/Engine/DeusExMachina/FixedOrientationEngine.hpp
trunk/pkg/common/Engine/DeusExMachina/FixedPositionEngine.cpp
trunk/pkg/common/Engine/DeusExMachina/FixedPositionEngine.hpp
trunk/pkg/common/Engine/StandAloneEngine/DistantPersistentSAPCollider.cpp
trunk/pkg/common/Engine/StandAloneEngine/DistantPersistentSAPCollider.hpp
trunk/pkg/common/Engine/StandAloneEngine/PersistentSAPCollider.cpp
trunk/pkg/common/Engine/StandAloneEngine/PersistentSAPCollider.hpp
trunk/pkg/realtime-rigidbody/DataClass/
Log:
1. Remove {,Distant}PersistentSAPCollider and Fixed{Position,Orientation}Engine classes
2. Add test script for generating packing
Deleted: trunk/pkg/common/Engine/DeusExMachina/FixedOrientationEngine.cpp
===================================================================
--- trunk/pkg/common/Engine/DeusExMachina/FixedOrientationEngine.cpp 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/pkg/common/Engine/DeusExMachina/FixedOrientationEngine.cpp 2009-08-14 06:59:23 UTC (rev 1941)
@@ -1,50 +0,0 @@
-/*************************************************************************
-* Copyright (C) 2004 by Janek Kozicki *
-* cosurgi@xxxxxxxxxx *
-* *
-* This program is free software; it is licensed under the terms of the *
-* GNU General Public License v2 or later. See file LICENSE for details. *
-*************************************************************************/
-
-#include "FixedOrientationEngine.hpp"
-#include<yade/core/MetaBody.hpp>
-#include<yade/lib-base/yadeWm3Extra.hpp>
-
-FixedOrientationEngine::FixedOrientationEngine()
-{
- fixedOrientation=Quaternionr(1.0,0.0,0.0,0.0);
-}
-
-void FixedOrientationEngine::postProcessAttributes(bool deserializing)
-{
- if(deserializing)
- {
- std::cerr << "fixedOrientation: " << fixedOrientation.W() << " " << fixedOrientation.X() << " " <<fixedOrientation.Y() << " " <<fixedOrientation.Z() << "\n\n";
- }
-}
-
-
-
-void FixedOrientationEngine::applyCondition(MetaBody * ncb)
-{
- shared_ptr<BodyContainer>& bodies = ncb->bodies;
-
- std::vector<int>::const_iterator ii = subscribedBodies.begin();
- std::vector<int>::const_iterator iiEnd = subscribedBodies.end();
-
- for(;ii!=iiEnd;++ii)
- if( bodies->exists(*ii) )
- ((*bodies)[*ii]->physicalParameters.get())->se3.orientation = fixedOrientation;
-
-// BodyContainer::iterator bi = bodies->begin();
-// BodyContainer::iterator biEnd = bodies->end();
-// for( ; bi!=biEnd ; ++bi )
-// {
-// shared_ptr<Body> b = *bi;
-// if(mask[0] != 0) (b->physicalParameters.get())->se3.position[0] = fixedPosition[0];
-// if(mask[1] != 0) (b->physicalParameters.get())->se3.position[1] = fixedPosition[1];
-// if(mask[2] != 0) (b->physicalParameters.get())->se3.position[2] = fixedPosition[2];
-// }
-}
-
-YADE_PLUGIN((FixedOrientationEngine));
\ No newline at end of file
Deleted: trunk/pkg/common/Engine/DeusExMachina/FixedOrientationEngine.hpp
===================================================================
--- trunk/pkg/common/Engine/DeusExMachina/FixedOrientationEngine.hpp 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/pkg/common/Engine/DeusExMachina/FixedOrientationEngine.hpp 2009-08-14 06:59:23 UTC (rev 1941)
@@ -1,32 +0,0 @@
-/*************************************************************************
-* Copyright (C) 2007 by Janek Kozicki *
-* cosurgi@xxxxxxxxxx *
-* *
-* This program is free software; it is licensed under the terms of the *
-* GNU General Public License v2 or later. See file LICENSE for details. *
-*************************************************************************/
-
-#pragma once
-
-#include<yade/core/DeusExMachina.hpp>
-#include <Wm3Vector3.h>
-#include<yade/lib-base/yadeWm3.hpp>
-
-class FixedOrientationEngine : public DeusExMachina
-{
- public :
- Quaternionr fixedOrientation;
- void applyCondition(MetaBody *);
-
- FixedOrientationEngine();
-
- protected :
- virtual void postProcessAttributes(bool);
- REGISTER_ATTRIBUTES(DeusExMachina,(fixedOrientation));
- REGISTER_CLASS_NAME(FixedOrientationEngine);
- REGISTER_BASE_CLASS_NAME(DeusExMachina);
-};
-
-REGISTER_SERIALIZABLE(FixedOrientationEngine);
-
-
Deleted: trunk/pkg/common/Engine/DeusExMachina/FixedPositionEngine.cpp
===================================================================
--- trunk/pkg/common/Engine/DeusExMachina/FixedPositionEngine.cpp 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/pkg/common/Engine/DeusExMachina/FixedPositionEngine.cpp 2009-08-14 06:59:23 UTC (rev 1941)
@@ -1,31 +0,0 @@
-/*************************************************************************
-* Copyright (C) 2004 by Janek Kozicki *
-* cosurgi@xxxxxxxxxx *
-* *
-* This program is free software; it is licensed under the terms of the *
-* GNU General Public License v2 or later. See file LICENSE for details. *
-*************************************************************************/
-
-#include"FixedPositionEngine.hpp"
-#include<yade/core/MetaBody.hpp>
-#include<boost/foreach.hpp>
-
-FixedPositionEngine::FixedPositionEngine(){
- fixedPosition=Vector3r(0,0,0);
- mask=Vector3r(0,0,1);
-}
-
-void FixedPositionEngine::postProcessAttributes(bool deserializing){}
-
-
-void FixedPositionEngine::applyCondition(MetaBody * ncb){
- shared_ptr<BodyContainer>& bodies = ncb->bodies;
- FOREACH(int id, subscribedBodies){
- if(!bodies->exists(id)) continue;
- if(mask[0]!=0) (*bodies)[id]->physicalParameters->se3.position[0]=fixedPosition[0];
- if(mask[1]!=0) (*bodies)[id]->physicalParameters->se3.position[1]=fixedPosition[1];
- if(mask[2]!=0) (*bodies)[id]->physicalParameters->se3.position[2]=fixedPosition[2];
- }
-}
-
-YADE_PLUGIN((FixedPositionEngine));
\ No newline at end of file
Deleted: trunk/pkg/common/Engine/DeusExMachina/FixedPositionEngine.hpp
===================================================================
--- trunk/pkg/common/Engine/DeusExMachina/FixedPositionEngine.hpp 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/pkg/common/Engine/DeusExMachina/FixedPositionEngine.hpp 2009-08-14 06:59:23 UTC (rev 1941)
@@ -1,32 +0,0 @@
-/*************************************************************************
-* Copyright (C) 2007 by Janek Kozicki *
-* cosurgi@xxxxxxxxxx *
-* *
-* This program is free software; it is licensed under the terms of the *
-* GNU General Public License v2 or later. See file LICENSE for details. *
-*************************************************************************/
-
-#pragma once
-
-#include<yade/core/DeusExMachina.hpp>
-#include <Wm3Vector3.h>
-#include<yade/lib-base/yadeWm3.hpp>
-
-/* Resets spatial position for all subscribed bodies to the desired value. */
-class FixedPositionEngine : public DeusExMachina {
- public:
- Vector3r fixedPosition;
- //! Non-zero components determine which components of fixedPosition will be used
- Vector3r mask;
- void applyCondition(MetaBody*);
- FixedPositionEngine();
- protected:
- virtual void postProcessAttributes(bool);
- REGISTER_ATTRIBUTES(DeusExMachina,(fixedPosition)(mask));
- REGISTER_CLASS_NAME(FixedPositionEngine);
- REGISTER_BASE_CLASS_NAME(DeusExMachina);
-};
-
-REGISTER_SERIALIZABLE(FixedPositionEngine);
-
-
Deleted: trunk/pkg/common/Engine/StandAloneEngine/DistantPersistentSAPCollider.cpp
===================================================================
--- trunk/pkg/common/Engine/StandAloneEngine/DistantPersistentSAPCollider.cpp 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/pkg/common/Engine/StandAloneEngine/DistantPersistentSAPCollider.cpp 2009-08-14 06:59:23 UTC (rev 1941)
@@ -1,257 +0,0 @@
-/*************************************************************************
-* Copyright (C) 2007 by Bruno Chareyre *
-* bruno.chareyre@xxxxxxxxxxx *
-* *
-* This program is free software; it is licensed under the terms of the *
-* GNU General Public License v2 or later. See file LICENSE for details. *
-*************************************************************************/
-
-YADE_REQUIRE_FEATURE(Say goodbye to this piece of crappy code!)
-
-#include"DistantPersistentSAPCollider.hpp"
-#include<yade/core/Body.hpp>
-#include<yade/core/MetaBody.hpp>
-#include<yade/core/BodyContainer.hpp>
-
-DistantPersistentSAPCollider::DistantPersistentSAPCollider() : Collider()
-{
-// cerr << "DistantPersistentSAPCollider\n";
-
- //this->maxObject = 150000;
- nbObjects=0;
-
- //xBounds.resize(2*maxObject);
- //yBounds.resize(2*maxObject);
- //zBounds.resize(2*maxObject);
-
- //minimums = new Real[3*maxObject];
- //maximums = new Real[3*maxObject];
-
- xBounds.clear();
- yBounds.clear();
- zBounds.clear();
-
- minimums.clear();
- maximums.clear();
-}
-
-DistantPersistentSAPCollider::~DistantPersistentSAPCollider()
-{
-
-}
-
-void DistantPersistentSAPCollider::action(MetaBody* ncb)
-{
-
- shared_ptr<BodyContainer> bodies = ncb->bodies;
-
- if (2*bodies->size()!=xBounds.size())
- {
- xBounds.resize(2*bodies->size());
- yBounds.resize(2*bodies->size());
- zBounds.resize(2*bodies->size());
-
- minimums.resize(3*bodies->size());
- maximums.resize(3*bodies->size());
- }
-
- // Updates the minimums and maximums arrays according to the new center and radius of the spheres
- int offset;
- Vector3r min,max;
- shared_ptr<Body> b;
-
- BodyContainer::iterator bi = bodies->begin();
- BodyContainer::iterator biEnd = bodies->end();
- for(unsigned int i=0 ; bi!=biEnd ; ++bi,i++ )
- {
- b = *bi;
-
- offset = 3*i;
- //FIXME: this is broken: bodies without boundingVolume are just skipped, which means that some garbage values are used later!
- if(b->boundingVolume) // can't assume that everybody has BoundingVolume
- {
- min = b->boundingVolume->min;
- max = b->boundingVolume->max;
- minimums[offset+0] = min[0];
- minimums[offset+1] = min[1];
- minimums[offset+2] = min[2];
- maximums[offset+0] = max[0];
- maximums[offset+1] = max[1];
- maximums[offset+2] = max[2];
- }
- }
-
- transientInteractions = ncb->transientInteractions;
- InteractionContainer::iterator ii = transientInteractions->begin();
- InteractionContainer::iterator iiEnd = transientInteractions->end();
- for( ; ii!=iiEnd ; ++ii)
- {
- shared_ptr<Interaction> interaction = *ii;
- //if (interaction->isReal()) // if a interaction was only potential then no geometry was created for it and so this time it is still a new one
- // interaction->isNew = false;
- //interaction->isReal = false;
- }
-
- updateIds(bodies->size());
- nbObjects = bodies->size();
-
- // permutation sort of the AABBBounds along the 3 axis performed in a independant manner
- sortBounds(xBounds, nbObjects);
- sortBounds(yBounds, nbObjects);
- sortBounds(zBounds, nbObjects);
-
-}
-
-
-void DistantPersistentSAPCollider::updateIds(unsigned int nbElements)
-{
-
- // the first time broadInteractionTest is called nbObject=0
- if (nbElements!=nbObjects)
- {
- int begin,end;
-
- end = nbElements;
- begin = 0;
-
- if (nbElements>nbObjects)
- begin = nbObjects;
-
- // initialization if the xBounds, yBounds, zBounds
- for(int i=begin;i<end;i++)
- {
- xBounds[2*i] = shared_ptr<AABBBound>(new AABBBound(i,1));
- xBounds[2*i+1] = shared_ptr<AABBBound>(new AABBBound(i,0));
-
- yBounds[2*i] = shared_ptr<AABBBound>(new AABBBound(i,1));
- yBounds[2*i+1] = shared_ptr<AABBBound>(new AABBBound(i,0));
-
- zBounds[2*i] = shared_ptr<AABBBound>(new AABBBound(i,1));
- zBounds[2*i+1] = shared_ptr<AABBBound>(new AABBBound(i,0));
- }
-
- // initialization if the field "value" of the xBounds, yBounds, zBounds arrays
- updateBounds(nbElements);
-
- // modified quick sort of the xBounds, yBounds, zBounds arrays
- // The first time these arrays are not sorted so it is faster to use such a sort instead
- // of the permutation we are going to use next
- std::sort(xBounds.begin(),xBounds.begin()+2*nbElements,AABBBoundComparator());
- std::sort(yBounds.begin(),yBounds.begin()+2*nbElements,AABBBoundComparator());
- std::sort(zBounds.begin(),zBounds.begin()+2*nbElements,AABBBoundComparator());
-
- // initialize the overlappingBB collection
- //for(unsigned int j=0;j<nbElements;j++)
- // overlappingBB[j].clear(); //attention memoire
-
- findOverlappingBB(xBounds, nbElements);
- findOverlappingBB(yBounds, nbElements);
- findOverlappingBB(zBounds, nbElements);
-
- }
- else
- updateBounds(nbElements);
-}
-
-
-void DistantPersistentSAPCollider::sortBounds(vector<shared_ptr<AABBBound> >& bounds, int nbElements)
-{
- int i,j;
- shared_ptr<AABBBound> tmp;
-
- for (i=1; i<2*nbElements; i++)
- {
- tmp = bounds[i];
- j = i;
- while (j>0 && tmp->value<bounds[j-1]->value)
- {
- bounds[j] = bounds[j-1];
- updateOverlapingBBSet(tmp->id,bounds[j-1]->id);
- j--;
- }
- bounds[j] = tmp;
- }
-}
-
-
-void DistantPersistentSAPCollider::updateOverlapingBBSet(int id1,int id2)
-{
-
-// // look if the pair (id1,id2) already exists in the overleppingBB collection
- shared_ptr<Interaction> interaction = transientInteractions->find(body_id_t(id1),body_id_t(id2));//Bruno's Hack
- //bool found = (transientInteractions->find(body_id_t(id1),body_id_t(id2))!=0);
-bool found = (interaction!=0);//Bruno's Hack
-
-
- // test if the AABBs of the spheres number "id1" and "id2" are overlapping
- int offset1 = 3*id1;
- int offset2 = 3*id2;
- // FIXME: this is perhaps an expensive operation?!
- const shared_ptr<Body>& b1(Body::byId(body_id_t(id1))), b2(Body::byId(body_id_t(id2)));
- bool overlap =
-
- (b1->isStandalone() || b2->isStandalone() || b1->clumpId!=b2->clumpId ) && // only collide if at least one particle is standalone or they belong to different clumps
- !b1->isClump() && !b2->isClump() && // do not collide clumps, since they are just containers, never interact
-
- !(maximums[offset1]<minimums[offset2] || maximums[offset2]<minimums[offset1] ||
- maximums[offset1+1]<minimums[offset2+1] || maximums[offset2+1]<minimums[offset1+1] ||
- maximums[offset1+2]<minimums[offset2+2] || maximums[offset2+2]<minimums[offset1+2]);
-
- // inserts the pair p=(id1,id2) if the two AABB overlaps and if p does not exists in the overlappingBB
- if (overlap && !found)
- transientInteractions->insert(body_id_t(id1),body_id_t(id2));
- // removes the pair p=(id1,id2) if the two AABB do not overlapp any more and if p already exists in the overlappingBB
- else if (!overlap && found && !interaction->isReal())
- transientInteractions->erase(body_id_t(id1),body_id_t(id2));//Bruno's hack
-//else if (!overlap && found)
-// transientInteractions->erase(body_id_t(id1),body_id_t(id2));
-}
-
-
-void DistantPersistentSAPCollider::updateBounds(int nbElements)
-{
-
- for(int i=0; i < 2*nbElements; i++)
- {
- if (xBounds[i]->lower)
- xBounds[i]->value = minimums[3*xBounds[i]->id+0];
- else
- xBounds[i]->value = maximums[3*xBounds[i]->id+0];
-
- if (yBounds[i]->lower)
- yBounds[i]->value = minimums[3*yBounds[i]->id+1];
- else
- yBounds[i]->value = maximums[3*yBounds[i]->id+1];
-
- if (zBounds[i]->lower)
- zBounds[i]->value = minimums[3*zBounds[i]->id+2];
- else
- zBounds[i]->value = maximums[3*zBounds[i]->id+2];
- }
-}
-
-
-
-
-void DistantPersistentSAPCollider::findOverlappingBB(std::vector<shared_ptr<AABBBound> >& bounds, int nbElements)
-{
-
- int i,j;
-
- i = j = 0;
- while (i<2*nbElements)
- {
- while (i<2*nbElements && !bounds[i]->lower)
- i++;
- j=i+1;
- while (j<2*nbElements && bounds[j]->id!=bounds[i]->id)
- {
- if (bounds[j]->lower)
- updateOverlapingBBSet(bounds[i]->id,bounds[j]->id);
- j++;
- }
- i++;
- }
-}
-
-YADE_PLUGIN((DistantPersistentSAPCollider));
Deleted: trunk/pkg/common/Engine/StandAloneEngine/DistantPersistentSAPCollider.hpp
===================================================================
--- trunk/pkg/common/Engine/StandAloneEngine/DistantPersistentSAPCollider.hpp 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/pkg/common/Engine/StandAloneEngine/DistantPersistentSAPCollider.hpp 2009-08-14 06:59:23 UTC (rev 1941)
@@ -1,102 +0,0 @@
-/*************************************************************************
-* Copyright (C) 2007 by Bruno Chareyre *
-* bruno.chareyre@xxxxxxxxxxx *
-* *
-* This program is free software; it is licensed under the terms of the *
-* GNU General Public License v2 or later. See file LICENSE for details. *
-*************************************************************************/
-
-#pragma once
-
-#include<yade/core/Collider.hpp>
-#include<yade/core/InteractionContainer.hpp>
-#include <list>
-#include <set>
-#include <vector>
-#include <algorithm>
-
-using namespace std;
-
-class DistantPersistentSAPCollider : public Collider
-{
- private :
- // represent an extrmity of an Axis ALigned bounding box
- struct AABBBound
- {
- AABBBound(int i, char l) : id(i),lower(l) {};
- int id; // AABB of the "id" shpere
- char lower; // is it the lower or upper bound of the AABB
- Real value; // value of the bound
- };
- // strucuture that compare 2 AABBBounds => used in the sort algorithm
- struct AABBBoundComparator
- {
- bool operator() (shared_ptr<AABBBound> b1, shared_ptr<AABBBound> b2)
- {
- return b1->value<b2->value;
- }
- };
-
- protected :
- /// number of potential transientInteractions = number of interacting AABB
- int nbPotentialInteractions;
-
- /// number of AABB
- unsigned int nbObjects;
-
- /// AABB extremity of the sphere number "id" projected onto the X axis
- vector<shared_ptr<AABBBound> > xBounds;
-
- /// AABB extremity of the sphere number "id" projected onto the Y axis
- vector<shared_ptr<AABBBound> > yBounds;
-
- /// AABB extremity of the sphere number "id" projected onto the Z axis
- vector<shared_ptr<AABBBound> > zBounds;
-
- // collection of AABB that are in interaction
- //protected : vector< set<unsigned int> > overlappingBB;
- shared_ptr<InteractionContainer> transientInteractions;
- /// upper right corner of the AABB of the objects => for spheres = center[i]-radius
- vector<Real> maximums;
-
- /// lower left corner of the AABB of the objects => for spheres = center[i]+radius
- vector<Real> minimums;
-
- /// Used the first time broadInteractionTest is called, to initialize and sort the xBounds, yBounds,
- /// and zBounds arrays and to initialize the overlappingBB collection
- void updateIds(unsigned int nbElements);
-
- /// Permutation sort the xBounds, yBounds, zBounds arrays according to the "value" field
- /// Calls updateOverlapingBBSet every time a permutation between 2 AABB i and j occurs
- void sortBounds(vector<shared_ptr<AABBBound> >& bounds, int nbElements);
-
- /// Tests if the AABBi and AABBj really overlap.
- /// If yes, adds the pair (id1,id2) to the collection of overlapping AABBs
- /// If no, removes the (id1,id2) to the collection of overlapping AABBs if necessary
- void updateOverlapingBBSet(int id1,int id2);
-
- /// update the "value" field of the xBounds, yBounds, zBounds arrays
- void updateBounds(int nbElements);
-
- /// Used the first time broadInteractionTest is called
- /// It is necessary to initialise the overlapping AABB collection because this collection is only
- /// incrementally udated each time step
- void findOverlappingBB(vector<shared_ptr<AABBBound> >& bounds, int nbElements);
-
- public :
- DistantPersistentSAPCollider();
-
- virtual ~DistantPersistentSAPCollider();
-
- /// return a list "transientInteractions" of pairs of Body which Bounding volume are in potential interaction
- void action(MetaBody *);
-
-
- REGISTER_CLASS_NAME(DistantPersistentSAPCollider);
- REGISTER_BASE_CLASS_NAME(Collider);
-
-};
-
-REGISTER_SERIALIZABLE(DistantPersistentSAPCollider);
-
-
Deleted: trunk/pkg/common/Engine/StandAloneEngine/PersistentSAPCollider.cpp
===================================================================
--- trunk/pkg/common/Engine/StandAloneEngine/PersistentSAPCollider.cpp 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/pkg/common/Engine/StandAloneEngine/PersistentSAPCollider.cpp 2009-08-14 06:59:23 UTC (rev 1941)
@@ -1,319 +0,0 @@
-/*************************************************************************
-* Copyright (C) 2004,2007 by
-* Olivier Galizzi <olivier.galizzi@xxxxxxx>
-* Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>
-* Václav Šmilauer <eudoxos@xxxxxxxx>
-*
-* This program is free software; it is licensed under the terms of the *
-* GNU General Public License v2 or later. See file LICENSE for details. *
-*************************************************************************/
-
-YADE_REQUIRE_FEATURE(Say goodbye to this piece of crappy code!)
-
-#include"PersistentSAPCollider.hpp"
-#include<yade/core/Body.hpp>
-#include<yade/core/MetaBody.hpp>
-#include<yade/core/BodyContainer.hpp>
-#include<limits>
-
-CREATE_LOGGER(PersistentSAPCollider);
-
-PersistentSAPCollider::PersistentSAPCollider() : Collider()
-{
- haveDistantTransient=false;
- //ompBodiesMin=0;
-
- nbObjects=0;
- xBounds.clear();
- yBounds.clear();
- zBounds.clear();
- minima.clear();
- maxima.clear();
-
-// timingDeltas=shared_ptr<TimingDeltas>(new TimingDeltas);
-}
-
-PersistentSAPCollider::~PersistentSAPCollider()
-{
-
-}
-
-// template void InteractionContainer::erasePending<PersistentSAPCollider>(const PersistentSAPCollider&);
-
-void PersistentSAPCollider::action(MetaBody* ncb)
-{
- rootBody=ncb;
- shared_ptr<BodyContainer> bodies=ncb->bodies;
- transientInteractions=ncb->transientInteractions;
-
-// timingDeltas->start();
-
- if (2*bodies->size()!=xBounds.size()){
- xBounds.resize(2*bodies->size());
- yBounds.resize(2*bodies->size());
- zBounds.resize(2*bodies->size());
- minima.resize(3*bodies->size());
- maxima.resize(3*bodies->size());
- }
-
-// timingDeltas->checkpoint("resizeArrays");
-
- // Updates the minima and maxima arrays according to the new center and radius of the spheres
- int offset;
- Vector3r min,max;
-
- const long numBodies=(long)bodies->size();
- //#pragma omp parallel for
- for(int id=0; id<numBodies; id++){
- const shared_ptr<Body>& b=(*bodies)[id];
- offset=3*id;
- if(b->boundingVolume){ // can't assume that everybody has BoundingVolume
- min=b->boundingVolume->min; max=b->boundingVolume->max;
- minima[offset+0]=min[0]; minima[offset+1]=min[1]; minima[offset+2]=min[2];
- maxima[offset+0]=max[0]; maxima[offset+1]=max[1]; maxima[offset+2]=max[2];
- }
- else {
- /* assign the center of gravity as zero-volume bounding box;
- * it should not create spurious interactions and
- * is a better solution that putting nan's into minima and maxima which crashes on _some_ machines */
- const Vector3r& pos=b->physicalParameters->se3.position;
- minima[offset+0]=pos[0]; minima[offset+1]=pos[1]; minima[offset+2]=pos[2];
- maxima[offset+0]=pos[0]; maxima[offset+1]=pos[1]; maxima[offset+2]=pos[2];
- }
- }
-
-// timingDeltas->checkpoint("minMaxUpdate");
-
- ncb->interactions->erasePending(*this,ncb);
-
-// timingDeltas->checkpoint("deleteInvalid");
-
- updateIds(bodies->size());
-
-// timingDeltas->checkpoint("updateIds");
-
- nbObjects=bodies->size();
-
- // permutation sort of the AABBBounds along the 3 axis performed in a independant manner
- // serial version
- //if(nbObjects>ompBodiesMin || ompBodiesMin==0){ … }
- sortBounds(xBounds,nbObjects); sortBounds(yBounds,nbObjects); sortBounds(zBounds,nbObjects);
-
-// timingDeltas->checkpoint("sortBounds");
-}
-
-bool PersistentSAPCollider::probeBoundingVolume(const BoundingVolume& bv)
-{
- probedBodies.clear();
- for( vector<shared_ptr<AABBBound> >::iterator
- it=xBounds.begin(),et=xBounds.end(); it < et; ++it)
- {
- if ((*it)->value > bv.max[0]) break;
- if (!(*it)->lower) continue;
- int offset = 3*(*it)->id;
- if (!(maxima[offset] < bv.min[0] ||
- minima[offset+1] > bv.max[1] ||
- maxima[offset+1] < bv.min[1] ||
- minima[offset+2] > bv.max[2] ||
- maxima[offset+2] < bv.min[2] ))
- {
- probedBodies.push_back((*it)->id);
- }
- }
- return (bool)probedBodies.size();
-}
-
-
-void PersistentSAPCollider::updateIds(unsigned int nbElements)
-{
- // the first time broadInteractionTest is called nbObject=0
- if (nbElements!=nbObjects){
- int begin=0, end=nbElements;
- if (nbElements>nbObjects) begin=nbObjects;
-
- //timingDeltas->start();
-
- // initialization if the xBounds, yBounds, zBounds
- for(int i=begin;i<end;i++){
- xBounds[2*i] = shared_ptr<AABBBound>(new AABBBound(i,1));
- xBounds[2*i+1] = shared_ptr<AABBBound>(new AABBBound(i,0));
- yBounds[2*i] = shared_ptr<AABBBound>(new AABBBound(i,1));
- yBounds[2*i+1] = shared_ptr<AABBBound>(new AABBBound(i,0));
- zBounds[2*i] = shared_ptr<AABBBound>(new AABBBound(i,1));
- zBounds[2*i+1] = shared_ptr<AABBBound>(new AABBBound(i,0));
- }
-
- //timingDeltas->checkpoint("init");
-
- // initialization if the field "value" of the xBounds, yBounds, zBounds arrays
- updateBounds(nbElements);
-
- /* Performance note: such was the timing result on initial step of 8k sphere in triaxial test.
- the findX, findY, findZ take almost the totality of the time.
- Parallelizing those is vastly beneficial (almost 3x speed increase, which can be quite sensible as the initial
- findOverlappingBB is really slow http://yade.wikia.com/wiki/Colliders_performace and is done in 3
- orthogonal directions. Therefore, it is enabled by default. updateOverlappingBBSet must be protected by
- critical section, since it is called from all threads!
-
- Now sortX is right before findX etc, in the same openMP section. Beware that timingDeltas will give garbage
- results if used in parallelized code.
-
- ===
-
- 8k spheres:
- Name Count Time Rel. time
- -------------------------------------------------------------------------------------------------------
- PersistentSAPCollider 1 3568091us 100.00%
- init 1 21178us 0.59%
- sortX 1 33225us 0.93%
- sortY 1 29300us 0.82%
- sortZ 1 28334us 0.79%
- findX 1 1708426us 47.88%
- findY 1 869150us 24.36%
- findZ 1 867378us 24.31%
- TOTAL 3556994us 99.69%
-
- */
-
- // The first time these arrays are not sorted so it is faster to use such a sort instead
- // of the permutation we are going to use next
-
- // do not juse timingDeltas with openMP enabled, results will be garbage
- #pragma omp parallel sections
- {
- #pragma omp section
- {
- std::sort(xBounds.begin(),xBounds.begin()+2*nbElements,AABBBoundComparator());
- //timingDeltas->checkpoint("sortX");
- findOverlappingBB(xBounds, nbElements);
- //timingDeltas->checkpoint("findX");
- }
- #pragma omp section
- {
- std::sort(yBounds.begin(),yBounds.begin()+2*nbElements,AABBBoundComparator());
- //timingDeltas->checkpoint("sortY");
- findOverlappingBB(yBounds, nbElements);
- //timingDeltas->checkpoint("findY");
- }
- #pragma omp section
- {
- std::sort(zBounds.begin(),zBounds.begin()+2*nbElements,AABBBoundComparator());
- //timingDeltas->checkpoint("sortZ");
- findOverlappingBB(zBounds, nbElements);
- //timingDeltas->checkpoint("findZ");
- }
- }
- }
- else updateBounds(nbElements);
-}
-
-
-void PersistentSAPCollider::sortBounds(vector<shared_ptr<AABBBound> >& bounds, int nbElements){
- int j;
- for (int i=1; i<2*nbElements; i++){
- shared_ptr<AABBBound> tmp(bounds[i]);
- j=i;
- while (j>0 && tmp->value<bounds[j-1]->value) {
- bounds[j]=bounds[j-1];
- updateOverlapingBBSet(tmp->id,bounds[j-1]->id);
- j--;
- }
- bounds[j]=tmp;
- }
-}
-
-
-bool PersistentSAPCollider::shouldBeErased(body_id_t id1, body_id_t id2) const {
- // if there is no bbox overlap
- int offset1=3*id1, offset2=3*id2;
- return (
- maxima[offset1 ]<minima[offset2 ] || maxima[offset2 ]<minima[offset1 ] ||
- maxima[offset1+1]<minima[offset2+1] || maxima[offset2+1]<minima[offset1+1] ||
- maxima[offset1+2]<minima[offset2+2] || maxima[offset2+2]<minima[offset1+2] );
-}
-
-/* Note that this function is called only for bodies that actually overlap along some axis */
-void PersistentSAPCollider::updateOverlapingBBSet(int id1,int id2){
- // look if the pair (id1,id2) already exists in the overlappingBB collection
- const shared_ptr<Interaction>& interaction=transientInteractions->find(body_id_t(id1),body_id_t(id2));
- bool found=(bool)interaction;
-
- // test if the AABBs of the spheres number "id1" and "id2" are overlapping
- int offset1=3*id1, offset2=3*id2;
- const shared_ptr<Body>& b1(Body::byId(body_id_t(id1),rootBody)), b2(Body::byId(body_id_t(id2),rootBody));
- bool overlap =
- Collider::mayCollide(b1.get(),b2.get()) &&
- // AABB collisions:
- !(
- maxima[offset1 ]<minima[offset2 ] || maxima[offset2 ]<minima[offset1 ] ||
- maxima[offset1+1]<minima[offset2+1] || maxima[offset2+1]<minima[offset1+1] ||
- maxima[offset1+2]<minima[offset2+2] || maxima[offset2+2]<minima[offset1+2]);
- // inserts the pair p=(id1,id2) if the two AABB overlaps and if p does not exists in the overlappingBB
- //if((id1==0 && id2==1) || (id1==1 && id2==0)) LOG_DEBUG("Processing #0 #1");
- //if(interaction&&!interaction->isReal){ LOG_DEBUG("Unreal interaction #"<<id1<<"=#"<<id2<<" (overlap="<<overlap<<", haveDistantTransient="<<haveDistantTransient<<")");}
- if(overlap && !found){
- //LOG_DEBUG("Creating interaction #"<<id1<<"=#"<<id2);
- transientInteractions->insert(body_id_t(id1),body_id_t(id2));
- }
- // removes the pair p=(id1,id2) if the two AABB do not overlapp any more and if p already exists in the overlappingBB
- else if(!overlap && found && (haveDistantTransient ? !interaction->isReal() : true) ){
- //LOG_DEBUG("Erasing interaction #"<<id1<<"=#"<<id2<<" (isReal="<<interaction->isReal<<")");
- transientInteractions->erase(body_id_t(id1),body_id_t(id2));
- }
-}
-
-
-void PersistentSAPCollider::updateBounds(int nbElements)
-{
- #define _BOUND_UPDATE(bounds,offset) \
- if (bounds[i]->lower) bounds[i]->value = minima[3*bounds[i]->id+offset]; \
- else bounds[i]->value = maxima[3*bounds[i]->id+offset];
- // for small number of bodies, run sequentially
- #if 0
- if(nbElements<ompBodiesMin || ompBodiesMin==0){
- #endif
- for(int i=0; i < 2*nbElements; i++){
- _BOUND_UPDATE(xBounds,0);
- _BOUND_UPDATE(yBounds,1);
- _BOUND_UPDATE(zBounds,2);
- }
- #if 0
- }
- else{
- // parallelize for large number of bodies (not used, updateBounds takes only about 5% of collider time
- #pragma omp parallel sections
- {
- #pragma omp section
- for(int i=0; i < 2*nbElements; i++){ _BOUND_UPDATE(xBounds,0); }
- #pragma omp section
- for(int i=0; i < 2*nbElements; i++){ _BOUND_UPDATE(yBounds,1); }
- #pragma omp section
- for(int i=0; i < 2*nbElements; i++){ _BOUND_UPDATE(zBounds,2); }
- }
- }
- #endif
- #undef _BOUND_UPDATE
-}
-
-
-void PersistentSAPCollider::findOverlappingBB(std::vector<shared_ptr<AABBBound> >& bounds, int nbElements){
- int i=0,j=0;
- while (i<2*nbElements) {
- while (i<2*nbElements && !bounds[i]->lower) i++;
- j=i+1;
- while (j<2*nbElements && bounds[j]->id!=bounds[i]->id){
- if (bounds[j]->lower){
- /* findOverlappingBB is called in parallel for different data at initialization,
- * but updateOverlapingBBSet touches shared global data, therefore must be protected by critical section;
- * normally updateOverlapingBBSet is also called sequentially from sortBounds, where the critical section
- * would penalize performance; therefore we have to protect it from here */
- #pragma omp critical
- updateOverlapingBBSet(bounds[i]->id,bounds[j]->id);
- }
- j++;
- }
- i++;
- }
-}
-
-YADE_PLUGIN((PersistentSAPCollider));
Deleted: trunk/pkg/common/Engine/StandAloneEngine/PersistentSAPCollider.hpp
===================================================================
--- trunk/pkg/common/Engine/StandAloneEngine/PersistentSAPCollider.hpp 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/pkg/common/Engine/StandAloneEngine/PersistentSAPCollider.hpp 2009-08-14 06:59:23 UTC (rev 1941)
@@ -1,115 +0,0 @@
-/*************************************************************************
-* Copyright (C) 2004 by Olivier Galizzi *
-* olivier.galizzi@xxxxxxx *
-* *
-* This program is free software; it is licensed under the terms of the *
-* GNU General Public License v2 or later. See file LICENSE for details. *
-*************************************************************************/
-
-#pragma once
-
-#error PersistentSAPCollider is forbidden
-
-#include<yade/core/Collider.hpp>
-#include<yade/core/InteractionContainer.hpp>
-#include <list>
-#include <set>
-#include <vector>
-#include <algorithm>
-
-using namespace std;
-
-class PersistentSAPCollider : public Collider
-{
- private :
- // represent an extrmity of an Axis ALigned bounding box
- struct AABBBound
- {
- AABBBound(int i, char l) : id(i),lower(l) {};
- int id; // AABB of the "id" shpere
- char lower; // is it the lower or upper bound of the AABB
- Real value; // value of the bound
- };
- // strucuture that compare 2 AABBBounds => used in the sort algorithm
- struct AABBBoundComparator
- {
- bool operator() (shared_ptr<AABBBound> b1, shared_ptr<AABBBound> b2)
- {
- return b1->value<b2->value;
- }
- };
-
- MetaBody* rootBody; // refreshed at every iteration; to avoid passing it to called members on stack
-
- protected :
- /// number of potential transientInteractions = number of interacting AABB
- int nbPotentialInteractions;
-
- /// number of AABB
- unsigned int nbObjects;
-
- /// AABB extremity of the sphere number "id" projected onto the X axis
- vector<shared_ptr<AABBBound> > xBounds;
-
- /// AABB extremity of the sphere number "id" projected onto the Y axis
- vector<shared_ptr<AABBBound> > yBounds;
-
- /// AABB extremity of the sphere number "id" projected onto the Z axis
- vector<shared_ptr<AABBBound> > zBounds;
-
- // collection of AABB that are in interaction
- //protected : vector< set<unsigned int> > overlappingBB;
- shared_ptr<InteractionContainer> transientInteractions;
- /// upper right corner of the AABB of the objects => for spheres = center[i]-radius
- vector<Real> maxima;
-
- /// lower left corner of the AABB of the objects => for spheres = center[i]+radius
- vector<Real> minima;
-
- /// Used the first time broadInteractionTest is called, to initialize and sort the xBounds, yBounds,
- /// and zBounds arrays and to initialize the overlappingBB collection
- void updateIds(unsigned int nbElements);
-
- /// Permutation sort the xBounds, yBounds, zBounds arrays according to the "value" field
- /// Calls updateOverlapingBBSet every time a permutation between 2 AABB i and j occurs
- void sortBounds(vector<shared_ptr<AABBBound> >& bounds, int nbElements);
-
- /// Tests if the AABBi and AABBj really overlap.
- /// If yes, adds the pair (id1,id2) to the collection of overlapping AABBs
- /// If no, removes the (id1,id2) to the collection of overlapping AABBs if necessary
- void updateOverlapingBBSet(int id1,int id2);
-
- /// update the "value" field of the xBounds, yBounds, zBounds arrays
- void updateBounds(int nbElements);
-
- /// Used the first time broadInteractionTest is called
- /// It is necessary to initialise the overlapping AABB collection because this collection is only
- /// incrementally udated each time step
- void findOverlappingBB(vector<shared_ptr<AABBBound> >& bounds, int nbElements);
-
- public :
- PersistentSAPCollider();
-
- virtual ~PersistentSAPCollider();
-
- /// return a list "transientInteractions" of pairs of Body which Bounding volume are in potential interaction
- void action(MetaBody *);
-
- /// return true if BoundingVolume is in potential interaction
- bool probeBoundingVolume(const BoundingVolume& bv);
-
- //! Don't break transient interaction once bodies don't overlap anymore; material law will be responsible for breaking it.
- bool haveDistantTransient;
-
- bool shouldBeErased(body_id_t, body_id_t) const;
-
- REGISTER_ATTRIBUTES(Collider,(haveDistantTransient));
- DECLARE_LOGGER;
- REGISTER_CLASS_NAME(PersistentSAPCollider);
- REGISTER_BASE_CLASS_NAME(Collider);
-
-};
-
-REGISTER_SERIALIZABLE(PersistentSAPCollider);
-
-
Added: trunk/scripts/test/pack-cloud.py
===================================================================
--- trunk/scripts/test/pack-cloud.py 2009-08-13 09:01:41 UTC (rev 1940)
+++ trunk/scripts/test/pack-cloud.py 2009-08-14 06:59:23 UTC (rev 1941)
@@ -0,0 +1,10 @@
+""" Generate random periodic sphere packing using SpherePack::makeCloud """
+from yade import pack
+p=pack.SpherePack()
+O.periodicCell=(0,0,0),(10,10,10)
+print p.makeCloud(O.periodicCell[0],O.periodicCell[1],.5,.5,1200,True)
+for s in p:
+ O.bodies.append(utils.sphere(s[0],s[1]))
+O.runEngine(BoundingVolumeMetaEngine([InteractingSphere2AABB()]))
+from yade import qt
+qt.View()
