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Message #04260
[Branch ~yade-dev/yade/trunk] Rev 2194: 1. Some garbage removal
------------------------------------------------------------
revno: 2194
fixes bug(s): https://launchpad.net/bugs/573723
committer: Václav Šmilauer <eudoxos@xxxxxxxx>
branch nick: trunk
timestamp: Mon 2010-05-03 15:58:09 +0200
message:
1. Some garbage removal
2. Fix assertion in NewtonIntegrator
modified:
SConstruct
lib/base/Math.hpp
lib/serialization/Archive.tpp
pkg/common/RenderingEngine/Gl1_Box.cpp
pkg/common/RenderingEngine/Gl1_Facet.cpp
pkg/common/RenderingEngine/Gl1_Sphere.cpp
pkg/common/RenderingEngine/OpenGLRenderingEngine.cpp
pkg/dem/Engine/GlobalEngine/NewtonIntegrator.cpp
py/yadeWrapper/yadeWrapper.cpp
--
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=== modified file 'SConstruct'
--- SConstruct 2010-05-03 12:17:44 +0000
+++ SConstruct 2010-05-03 13:58:09 +0000
@@ -394,9 +394,8 @@
if not ok: featureNotOK('eigen',note="You might have to add eigen header directory (e.g. /usr/include/eigen2) to CPPPATH.")
if 'nowm3' in env['features'] and 'eigen' not in env['features']:
featureNotOK("You selected the 'nowm3' feature; you MUST also select the 'eigen' feature in such case.")
- # different macros for different versions of eigen:
- # http://bitbucket.org/eigen/eigen/issue/96/eigen_dont_align-doesnt-exist-in-205-but-appears-in-web
- if 'nowm3' in env['features']: env.Append(CPPDEFINES=['EIGEN_DONT_VECTORIZE','EIGEN_DONT_ALIGN','EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT'])
+ # moved to lib/base/Math.hpp instead
+ #if 'nowm3' in env['features']: env.Append(CPPDEFINES=['EIGEN_DONT_VECTORIZE','EIGEN_DONT_ALIGN','EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT'])
if env['useMiniWm3'] and not 'nowm3' in env['features']: env.Append(LIBS='miniWm3',CPPDEFINES=['MINIWM3'])
=== modified file 'lib/base/Math.hpp'
--- lib/base/Math.hpp 2010-05-03 12:17:44 +0000
+++ lib/base/Math.hpp 2010-05-03 13:58:09 +0000
@@ -21,14 +21,19 @@
#define EIGEN_DONT_ALIGN
#define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
#include<Eigen/Core>
- USING_PART_OF_NAMESPACE_EIGEN
+ #include<Eigen/Geometry>
+ // USING_PART_OF_NAMESPACE_EIGEN
//using namespace eigen; // for eigen3
+ //
+ //template<typename Scalar> using Vector2=Eigen::Matrix<Scalar,2,1>;
+ //template<typename Scalar> using Vector3=Eigen::Matrix<Scalar,3,1>;
+ //template<typename Scalar> using Matrix3=Eigen::Matrix<Scalar,3,3>;
typedef Vector2<int> Vector2i;
typedef Vector2<Real> Vector2r;
typedef Vector3<int> Vector3i;
typedef Vector3<Real> Vector3r;
typedef Matrix3<Real> Matrix3r;
- typedef Quaternion<Real> Quaternionr;
+ typedef Eigen::Quaternion<Real> Quaternionr;
// io
template<class ScalarType> std::ostream & operator<<(std::ostream &os, const Vector2<ScalarType>& v){ os << v.x()<<" "<<v.y(); return os; };
@@ -43,6 +48,29 @@
template<typename ScalarType> AngleAxis<ScalarType> angleAxisFromQuat(const Quaternion<ScalarType>& q){ return AngleAxis<ScalarType>(q); }
// http://eigen.tuxfamily.org/dox/TutorialGeometry.html
template<typename ScalarType> Matrix3<ScalarType> matrixFromEulerAnglesXYZ(ScalarType x, ScalarType y, ScalarType z){ Matrix3<ScalarType> ret=AngleAxis<ScalarType>(x,Vector3<ScalarType>::UnitX())*AngleAxis<ScalarType>(y,Vector3<ScalarType>::UnitY())*AngleAxis<ScalarType>(z,Vector3<ScalarType>::UnitZ()); return ret; }
+ /* replace all those by standard math functions
+ this is a non-templated version, to avoid compilation because of static constants;
+ */
+ namespace Mathr{
+ const Real PI(4.*atan(1.));
+ const Real HALF_PI(.2*PI);
+ const Real TWO_PI(2*PI);
+ const Real MAX_REAL(DBL_MAX);
+ const Real DEG_TO_RAD(PI/180.);
+ const Real RAD_TO_DEG(180./PI);
+ const Real EPSILON(DBL_EPSILON);
+ Real Sign(Real f){ if(f<0) return -1; if(f>0) return 1; return 0; }
+ Real Sqrt(Real f){ return sqrt(f); }
+ Real Log(Real f){ return log(f); }
+ Real Exp(Real f){ return exp(f); }
+ Real ATan(Real f){ return atan(f); }
+ Real Tan(Real f){ return tan(f); }
+ Real Pow(Real base,exponent){ return pow(base,exponent); }
+
+ Real UnitRandom(){ return ((double)rand()/((double)(RAND_MAX))); }
+ Real SymmetricRandom(){ return 2.*(((double)rand())/((double)(RAND_MAX)))-1.; }
+ Real FastInvCos0(Real f){ Real fRoot = sqrt(((Real)1.0)-fValue); Real fResult = -(Real)0.0187293; fResult *= fValue; fResult += (Real)0.0742610; fResult *= fValue; fResult -= (Real)0.2121144; fResult *= fValue; fResult += (Real)1.5707288; fResult *= fRoot; return fResult; }
+ };
#else
#include<Wm3Vector2.h>
#include<Wm3Vector3.h>
@@ -96,6 +124,7 @@
template<typename ScalarType> Vector3<ScalarType> diagDiv(const Vector3<ScalarType>& a, const Vector3<ScalarType>& b){return Vector3<ScalarType>(a.x()/b.x(),a.y()/b.y(),a.z()/b.z());}
+
/*
* Extra yade math functions and classes
*/
@@ -164,9 +193,9 @@
// fast serialization (no version infor and no tracking) for basic math types
// http://www.boost.org/doc/libs/1_42_0/libs/serialization/doc/traits.html#bitwise
BOOST_IS_BITWISE_SERIALIZABLE(Vector2r);
-BOOST_IS_BITWISE_SERIALIZABLE(Vector2<int>);
+BOOST_IS_BITWISE_SERIALIZABLE(Vector2i);
BOOST_IS_BITWISE_SERIALIZABLE(Vector3r);
-BOOST_IS_BITWISE_SERIALIZABLE(Vector3<int>);
+BOOST_IS_BITWISE_SERIALIZABLE(Vector3i);
BOOST_IS_BITWISE_SERIALIZABLE(Quaternionr);
BOOST_IS_BITWISE_SERIALIZABLE(Se3r);
BOOST_IS_BITWISE_SERIALIZABLE(Matrix3r);
=== modified file 'lib/serialization/Archive.tpp'
--- lib/serialization/Archive.tpp 2010-02-14 19:36:17 +0000
+++ lib/serialization/Archive.tpp 2010-05-03 13:58:09 +0000
@@ -40,34 +40,10 @@
typeid(Type)==typeid(Vector2r) ||
typeid(Type)==typeid(Vector2i) ||
typeid(Type)==typeid(Vector3r) ||
- typeid(Type)==typeid(Vector3f) ||
typeid(Type)==typeid(Vector3i) ||
typeid(Type)==typeid(Matrix3r) ||
typeid(Type)==typeid(Quaternionr) ||
typeid(Type)==typeid(Se3r)
-#if 0
- typeid(Type)==typeid(Vector2<signed int>) ||
- typeid(Type)==typeid(Vector2<unsigned int>) ||
- typeid(Type)==typeid(Vector2<signed long>) ||
- typeid(Type)==typeid(Vector2<unsigned long>) ||
- typeid(Type)==typeid(Vector3<long double>) ||
- typeid(Type)==typeid(Vector3<signed int>) ||
- typeid(Type)==typeid(Vector3<unsigned int>) ||
- typeid(Type)==typeid(Vector3<signed long>) ||
- typeid(Type)==typeid(Vector3<unsigned long>) ||
- typeid(Type)==typeid(Vector3f) ||
- typeid(Type)==typeid(Vector3d) ||
- typeid(Type)==typeid(Vector3i) ||
- typeid(Type)==typeid(Matrix3f) ||
- typeid(Type)==typeid(Matrix3d) ||
- typeid(Type)==typeid(Matrix3<long double>) ||
- typeid(Type)==typeid(Quaternionf) ||
- typeid(Type)==typeid(Quaterniond) ||
- typeid(Type)==typeid(Quaternion<long double>) ||
- typeid(Type)==typeid(Se3f) ||
- typeid(Type)==typeid(Se3d) ||
- typeid(Type)==typeid(Se3<long double>)
-#endif
);
}
=== modified file 'pkg/common/RenderingEngine/Gl1_Box.cpp'
--- pkg/common/RenderingEngine/Gl1_Box.cpp 2010-03-27 22:18:10 +0000
+++ pkg/common/RenderingEngine/Gl1_Box.cpp 2010-05-03 13:58:09 +0000
@@ -12,8 +12,6 @@
void Gl1_Box::go(const shared_ptr<Shape>& cg, const shared_ptr<State>&,bool wire,const GLViewInfo&)
{
- // FIXME : check that : one of those 2 lines are useless
- glMaterialv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, Vector3f(cg->color[0],cg->color[1],cg->color[2]));
glColor3v(cg->color);
Vector3r &extents = (static_cast<Box*>(cg.get()))->extents;
=== modified file 'pkg/common/RenderingEngine/Gl1_Facet.cpp'
--- pkg/common/RenderingEngine/Gl1_Facet.cpp 2010-05-03 12:17:44 +0000
+++ pkg/common/RenderingEngine/Gl1_Facet.cpp 2010-05-03 13:58:09 +0000
@@ -43,8 +43,6 @@
glEnd();
} else {
glDisable(GL_CULL_FACE);
- glMaterialv(GL_FRONT,GL_AMBIENT_AND_DIFFUSE,cm->color); glColor3v(cm->color); // one of those necessary as well
- glEnable(GL_LIGHTING); // important
Vector3r normal=(facet->vertices[1]-facet->vertices[0]).cross(facet->vertices[2]-facet->vertices[1]); normal.normalize();
glBegin(GL_TRIANGLES);
glNormal3v(normal); // this makes every triangle different WRT the light direction; important!
=== modified file 'pkg/common/RenderingEngine/Gl1_Sphere.cpp'
--- pkg/common/RenderingEngine/Gl1_Sphere.cpp 2010-05-03 12:17:44 +0000
+++ pkg/common/RenderingEngine/Gl1_Sphere.cpp 2010-05-03 13:58:09 +0000
@@ -28,17 +28,7 @@
if (wire || wire2) glutWireSphere(r,glutSlices,glutStacks);
else {
if(stripes) { glScalef(r,r,r); drawSphere();}
- else {
-// if(glSphereList<0) {
-// glSphereList = glGenLists(1);
-// glNewList(glSphereList,GL_COMPILE);
-// //glShadeModel(GL_SMOOTH); glDisable(GL_LIGHTING);
-// glutSolidSphere(1,glutSlices,glutStacks);
-// glEndList();}
-//
-// glScalef(r,r,r);
-// glCallList(glSphereList);}
- glutSolidSphere(r,glutSlices,glutStacks);}
+ else { glutSolidSphere(r,glutSlices,glutStacks);}
}
if(glutNormalize) glPopAttrib();
return;
@@ -67,24 +57,21 @@
Real angle = atan(v[2]/v[0])/v.norm();
GLfloat matAmbient[4];
if (angle>-Mathr::PI/6.0 && angle<=Mathr::PI/6.0){
- matAmbient[0] = 1.0;
- matAmbient[1] = 1.0;
- matAmbient[2] = 1.0;
- matAmbient[3] = 1.0;
+ matAmbient[0] = .3;
+ matAmbient[1] = .3;
+ matAmbient[2] = .3;
+ matAmbient[3] = 1;
}else{
matAmbient[0] = 0.0;
matAmbient[1] = 0.0;
matAmbient[2] = 0.0;
- matAmbient[3] = 1.0;
+ matAmbient[3] = 0;
}
glMaterialfv(GL_FRONT_AND_BACK,GL_SPECULAR,matAmbient);
glBegin(GL_TRIANGLES);
- glNormal3v(v3);
- glVertex3v(v3);
- glNormal3v(v2);
- glVertex3v(v2);
- glNormal3v(v1);
- glVertex3v(v1);
+ glNormal3v(v3); glVertex3v(v3);
+ glNormal3v(v2); glVertex3v(v2);
+ glNormal3v(v1); glVertex3v(v1);
glEnd();
return;
}
=== modified file 'pkg/common/RenderingEngine/OpenGLRenderingEngine.cpp'
--- pkg/common/RenderingEngine/OpenGLRenderingEngine.cpp 2010-05-03 12:17:44 +0000
+++ pkg/common/RenderingEngine/OpenGLRenderingEngine.cpp 2010-05-03 13:58:09 +0000
@@ -142,7 +142,7 @@
void OpenGLRenderingEngine::resetSpecularEmission(){
const GLfloat specular[4]={.3,.3,.3,1};
- const GLfloat emission[4]={.1,.1,.1,1};
+ const GLfloat emission[4]={0,0,0,0};
glMaterialfv(GL_FRONT_AND_BACK,GL_SPECULAR,specular);
glMaterialfv(GL_FRONT_AND_BACK,GL_EMISSION,emission);
}
=== modified file 'pkg/dem/Engine/GlobalEngine/NewtonIntegrator.cpp'
--- pkg/dem/Engine/GlobalEngine/NewtonIntegrator.cpp 2010-05-03 12:17:44 +0000
+++ pkg/dem/Engine/GlobalEngine/NewtonIntegrator.cpp 2010-05-03 13:58:09 +0000
@@ -134,7 +134,7 @@
if (exactAsphericalRot && ((state->inertia[0]!=state->inertia[1] || state->inertia[1]!=state->inertia[2]))){
FOREACH(Clump::memberMap::value_type mm, static_cast<Clump*>(b.get())->members){
const body_id_t& memberId=mm.first;
- const shared_ptr<Body>& member=Body::byId(memberId,scene); assert(b->isClumpMember());
+ const shared_ptr<Body>& member=Body::byId(memberId,scene); assert(member->isClumpMember());
State* memberState=member->state.get();
handleClumpMemberAccel(scene,memberId,memberState,state);
handleClumpMemberTorque(scene,memberId,memberState,state,M);
=== modified file 'py/yadeWrapper/yadeWrapper.cpp'
--- py/yadeWrapper/yadeWrapper.cpp 2010-04-26 16:09:18 +0000
+++ py/yadeWrapper/yadeWrapper.cpp 2010-05-03 13:58:09 +0000
@@ -113,13 +113,17 @@
#endif
vector<body_id_t> ret; FOREACH(shared_ptr<Body>& b, bb){ret.push_back(append(b));} return ret;
}
- python::tuple appendClump(vector<shared_ptr<Body> > bb){/*clump: first add constitutents, then add clump, then add constitutents to the clump, then update clump props*/
+ python::tuple appendClump(vector<shared_ptr<Body> > bb){
+ // update clump members
vector<body_id_t> ids(appendList(bb));
+ // create and add clump itself
shared_ptr<Clump> clump=shared_ptr<Clump>(new Clump());
shared_ptr<Body> clumpAsBody=static_pointer_cast<Body>(clump);
clump->isDynamic=true;
proxee->insert(clumpAsBody);
+ // add clump members to the clump
FOREACH(body_id_t id, ids) clump->add(id);
+ // update clump
clump->updateProperties(false);
return python::make_tuple(clump->getId(),ids);
}
